DIRECT CALCULATION OF MINIMUM SET OF INERTIAL PARAMETERS OF SERIAL ROBOTS - COMMENT

Authors
KHALIL W BENNIS F
Citation
W. Khalil et F. Bennis, DIRECT CALCULATION OF MINIMUM SET OF INERTIAL PARAMETERS OF SERIAL ROBOTS - COMMENT, IEEE transactions on robotics and automation, 10(1), 1994, pp. 78-79
Citations number
4
Categorie Soggetti
Computer Application, Chemistry & Engineering","Controlo Theory & Cybernetics","Robotics & Automatic Control","Engineering, Eletrical & Electronic
Journal title
IEEE transactions on robotics and automation → ACNP
ISSN journal
1042296X
Volume
10
Issue
1
Year of publication
1994
Pages
78 - 79
Database
ISI
SICI code
1042-296X(1994)10:1<78:DCOMSO>2.0.ZU;2-4
Abstract
The paper presented by Gautier and Khalil [1] gives a direct and effic ient method of calculating most of the minimum inertial parameters of serial robots. Some parameters concerning the translational links betw een the first two rotational joints that are not parallel need particu lar calculation; partial results concerning the case where these links are either perpendicular or parallel are given in the paper [1]. This correspondence presents a direct solution of this particular case, su ch that all the minimum inertial parameters can be obtained directly w ithout calculating the energy or the dynamic model of any link.