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

被引：48
|
作者：
KHALIL, W
BENNIS, F
机构：
[1] Laboratoire d'Automatique de Nantes URA C.N.R.S 823, Ecole centrale de Nantes, 44072, Nantes cedex
来源：
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 1995年 / 14卷 / 02期
关键词：
D O I：
10.1177/027836499501400202
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This article presents a symbolic solution to determine the base inertial parameters of robots containing closed loops. The method gives most of tire base inertial parameters directly and in many cases even gives all the base inertial parameters. The solution is obtained using recursive relations without calculating the energy or the dynamic model of the robot; the constraint equations of the loops need nor be obtained. New results concerning the base inertial parameters of tree structure robots are also given.
引用
收藏
页码：112 / 128
页数：17
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