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

• 主要作者: Jamisola, Rodrigo S., Jr.
• 格式: text
• 語言: English
• 出版: Animo Repository 2010
• 主題: Oscillations; Robots > control; Optimization; Robots > Control systems; Mass; Other Engineering; Robotics
• 在線閱讀: https://animorepository.dlsu.edu.ph/etd_doctoral/287; https://animorepository.dlsu.edu.ph/context/etd_doctoral/article/1286/viewcontent/CDTG004754_P__1_.pdf

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...