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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 (English)In: 1998 IEEE International Conference on Robotics and Automation, 1998. Proceedings., Piscataway, NJ: IEEE Press, 1998, Vol. 4, 3316-3321 p.Conference paper, Published paper (Refereed)
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

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Press, 1998. Vol. 4, 3316-3321 p.
Series
IEEE International Conference on Robotics & Automation (ICRA), ISSN 1050-4729
Keyword [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
National Category
Robotics
Identifiers
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: diva2:586707
Conference
ICRA 1998, IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 16-20, 1998
Note

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

Available from: 2013-01-12 Created: 2013-01-12 Last updated: 2015-05-19Bibliographically approved

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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More languages
Output format
  • html
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  • asciidoc
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