hh.sePublikationer
Ändra sökning
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
A Base Force/Torque Sensor Approach to Robot Manipulator Inertial Parameter Estimation
Allied Signal Aerosp., Canada, Eyobicoke, Ontario, Canada.
Massachusetts Institute of Technology, Cambridge, MA, USA.
Massachusetts Institute of Technology, Cambridge, MA, USA.
École Nationale Supérieure de Physique de Strasbourg (ENSPS), Strasbourg, France.
1998 (Engelska)Ingår i: 1998 IEEE International Conference on Robotics and Automation, 1998. Proceedings., Piscataway, NJ: IEEE Press, 1998, Vol. 4, s. 3316-3321Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

A practical method is proposed for estimating the inertial parameters of robot manipulators with substantial unmodeled joint friction and actuator dynamics. The manipulator is mounted on a six-axis force/torque sensor. Sensor measurements and joint velocities recorded during manipulator motion are used to identify the inertial parameters. The unmodeled joint friction and actuator dynamics do not degrade the estimation results, as in conventional methods. The estimation algorithm does not require difficult-to-measure acceleration measurements. Experimental results presented show that an accurate estimation of inertia parameters is attainable. Since the sensor is external to the manipulator, the same sensor can be used for parameter estimation for a number of different systems. @ IEEE 1998

Ort, förlag, år, upplaga, sidor
Piscataway, NJ: IEEE Press, 1998. Vol. 4, s. 3316-3321
Serie
IEEE International Conference on Robotics & Automation (ICRA), ISSN 1050-4729
Nyckelord [en]
Actuators, Force sensors, Friction, Manipulator dynamics, Motion measurement, Parameter estimation, Robot sensing systems, Sensor systems, Torque, Velocity measurement, friction, inertial systems, manipulator dynamics, parameter estimation, sensors, actuator dynamics, force sensor, inertial parameter estimation, joint friction, robot manipulator, torque sensor
Nationell ämneskategori
Robotteknik och automation
Identifikatorer
URN: urn:nbn:se:hh:diva-20826DOI: 10.1109/ROBOT.1998.680950ISI: 000074368900527Libris ID: 650910ISBN: 0-7803-4300-X ISBN: 0-7803-4301-8 OAI: oai:DiVA.org:hh-20826DiVA, id: diva2:586707
Konferens
ICRA 1998, IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 16-20, 1998
Anmärkning

Financial support: The Korean Electric Power Research Institute (KEPRI), the Canadian Government, and the National Science Foundation

Tillgänglig från: 2013-01-12 Skapad: 2013-01-12 Senast uppdaterad: 2018-03-22Bibliografiskt granskad

Open Access i DiVA

Fulltext saknas i DiVA

Övriga länkar

Förlagets fulltext

Personposter BETA

Iagnemma, Karl

Sök vidare i DiVA

Av författaren/redaktören
Iagnemma, Karl
Robotteknik och automation

Sök vidare utanför DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetricpoäng

doi
isbn
urn-nbn
Totalt: 57 träffar
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf