Online identification of inertial parameters of a robot with partially combined links using IMU sensing

• المؤلفون الرئيسيون: Chen, Chensheng, Zhang, Wenwen, Liu, Tao, Zhang, Zhengyuan, Lu, Wenhao, Wang, Lei, Zheng, Yuanjin, Lin, Zhiping
• مؤلفون آخرون: School of Electrical and Electronic Engineering
• التنسيق: مقال
• اللغة: English
• منشور في: 2023
• الموضوعات: Engineering::Electrical and electronic engineering; Dynamics Modeling; Initial Position Optimization
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/171314
• المؤسسة: Nanyang Technological University

Accurate calculation of joint acceleration online is critical for detecting robot collisions when used in inverse dynamics to calculate joint torques. The conventional method for calculating joint acceleration is to employ the twice differentiation based on encoder data, which suffers from the probl...