MINIMUM INERTIAL PARAMETERS OF ROBOTS WITH PARALLELOGRAM CLOSED LOOPS

被引：6
|
作者：
BENNIS, F [1 ]
KHALIL, W [1 ]
机构：
[1] ECOLE NATL SUPER MECAN NANTES,AUTOMAT NANTES LAB,CNRS,UAR 833,F-44072 NANTES,FRANCE
来源：
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS | 1991年 / 21卷 / 02期
关键词：
D O I：
10.1109/21.87080
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
A symbolic method to determine the minimum set of inertial parameters of robots containing parallelogram closed loops is presented. The solution is obtained by determining at first the minimum inertial parameters of an equivalent tree structure, then the constraint equations of the closed-loops are taken into account to get the global minimum inertial parameters. Direct general relations are obtained for the two steps.
引用
收藏
页码：318 / 326
页数：9
相关论文
共 50 条
  • [1] DIRECT CALCULATION OF MINIMUM SET OF INERTIAL PARAMETERS OF SERIAL ROBOTS
    GAUTIER, M
    KHALIL, W
    [J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1990, 6 (03): : 368 - 373
  • [2] THE USE OF THE GENERALIZED LINKS TO DETERMINE THE MINIMUM INERTIAL PARAMETERS OF ROBOTS
    KHALIL, W
    BENNIS, F
    GAUTIER, M
    [J]. JOURNAL OF ROBOTIC SYSTEMS, 1990, 7 (02): : 225 - 242
  • [3] DIRECT CALCULATION OF MINIMUM SET OF INERTIAL PARAMETERS OF SERIAL ROBOTS - COMMENT
    KHALIL, W
    BENNIS, F
    [J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1994, 10 (01): : 78 - 79
  • [4] SYMBOLIC CALCULATION OF THE BASE INERTIAL PARAMETERS OF CLOSED-LOOP ROBOTS
    KHALIL, W
    BENNIS, F
    [J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1995, 14 (02): : 112 - 128
  • [5] Symbolic calculation of the base inertial parameters of closed-loop robots
    CNRS, Namtes, France
    [J]. Int J Rob Res, 2 (112-128):
  • [6] Geometric algorithms for kinematic calibration of robots containing closed loops
    Iurascu, CC
    Park, FC
    [J]. JOURNAL OF MECHANICAL DESIGN, 2003, 125 (01) : 23 - 32
  • [7] Modular robots in parallelogram system
    Svetlik, Jozef
    Daneshjo, Naqib
    [J]. 2008 6TH INTERNATIONAL SYMPOSIUM ON APPLIED MACHINE INTELLIGENCE AND INFORMATICS, 2008, : 217 - 219
  • [8] NUMERICAL-CALCULATION OF THE BASE INERTIAL PARAMETERS OF ROBOTS
    GAUTIER, M
    [J]. JOURNAL OF ROBOTIC SYSTEMS, 1991, 8 (04): : 485 - 506
  • [9] EXCITING TRAJECTORIES FOR THE IDENTIFICATION OF BASE INERTIAL PARAMETERS OF ROBOTS
    GAUTIER, M
    KHALIL, W
    [J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1992, 11 (04): : 362 - 375
  • [10] IDENTIFICATION OF INERTIAL PARAMETERS OF A MANIPULATOR WITH CLOSED KINEMATIC CHAINS
    GOLDENBERG, AA
    HE, XG
    ANANTHANARAYANAN, SP
    [J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 1992, 22 (04): : 799 - 805
12345