Identifying mass, center of mass, and moment of inertia through natural oscillations for full-dynamics control of robot manipulators

• المؤلف الرئيسي: Jamisola, Rodrigo S., Jr.
• التنسيق: text
• اللغة: English
• منشور في: Animo Repository 2010
• الموضوعات: Oscillations; Robots > control; Optimization; Robots > Control systems; Mass; Other Engineering; Robotics
• الوصول للمادة أونلاين: https://animorepository.dlsu.edu.ph/etd_doctoral/287; https://animorepository.dlsu.edu.ph/context/etd_doctoral/article/1286/viewcontent/CDTG004754_P__1_.pdf
• المؤسسة: De La Salle University

Inclusion of the dynamics parameters information into the robot control is critical in achieving robustness in the robots performance. These dynamics parameters are mass, center of mass, and moment of inertia. Integrating the correct values of these parameters in the dynamics model helps achieve ful...