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

• المؤلفون الرئيسيون: Jamisola, Rodrigo S., Dadios, Elmer Jose P.
• التنسيق: text
• منشور في: Animo Repository 2010
• الوصول للمادة أونلاين: https://animorepository.dlsu.edu.ph/faculty_research/1001; https://animorepository.dlsu.edu.ph/context/faculty_research/article/2000/type/native/viewcontent

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...