SYMBOLIC CALCULATION OF THE BASE INERTIAL PARAMETERS OF CLOSED-LOOP ROBOTS

Authors
KHALIL W BENNIS F
Citation
W. Khalil et F. Bennis, SYMBOLIC CALCULATION OF THE BASE INERTIAL PARAMETERS OF CLOSED-LOOP ROBOTS, The International journal of robotics research, 14(2), 1995, pp. 112-128
Citations number
23
Categorie Soggetti
Computer Application, Chemistry & Engineering","Controlo Theory & Cybernetics","Robotics & Automatic Control
Journal title
The International journal of robotics research → ACNP
ISSN journal
02783649
Volume
14
Issue
2
Year of publication
1995
Pages
112 - 128
Database
ISI
SICI code
0278-3649(1995)14:2<112:SCOTBI>2.0.ZU;2-I
Abstract
This article presents a symbolic solution to determine the base inerti al parameters of robots containing closed loops. The method gives most of tire base inertial parameters directly and in many cases even give s all the base inertial parameters. The solution is obtained using rec ursive relations without calculating the energy or the dynamic model o f the robot; the constraint equations of the loops need nor be obtaine d. New results concerning the base inertial parameters of tree structu re robots are also given.