Experimental identification of manipulator dynamics through the minimization of its natural oscillations

• Main Authors: Jamisola, Rodrigo S., Dadios, Elmer Jose P.
• Format: text
• Published: Animo Repository 2010
• Online Access: https://animorepository.dlsu.edu.ph/faculty_research/1001; https://animorepository.dlsu.edu.ph/context/faculty_research/article/2000/type/native/viewcontent
• Institution: De La Salle University

This work presents amethod of identifying the dynamics parameters of rigid-body manipulators through the minimization of its natural oscillations. It is assumed that each link has an actuated joint that is different from its center of mass, such that its driving torque is influenced by gravitational...