AN IDENTIFICATION METHOD FOR ESTIMATING THE INERTIA PARAMETERS OF A MANIPULATOR

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DC Field	Value	Language
dc.contributor.author	LIN, SK	en_US
dc.date.accessioned	2014-12-08T15:04:52Z	-
dc.date.available	2014-12-08T15:04:52Z	-
dc.date.issued	1992-06-01	en_US
dc.identifier.issn	0741-2223	en_US
dc.identifier.uri	http://hdl.handle.net/11536/3387	-
dc.description.abstract	This article presents an off-line identification method to estimate the minimal knowledge of the inertia parameters for determining the dynamic model of a manipulator. A new approach is proposed to find a set of the minimal knowledge of the inertia parameters. This set is recursively estimated by moving one joint at a time. The off-line identification procedure also provides a sufficient condition for a persistently exciting trajectory. A simulation example of Stanford arm illustrates the validity and simplicity of the identification procedure.	en_US
dc.language.iso	en_US	en_US
dc.title	AN IDENTIFICATION METHOD FOR ESTIMATING THE INERTIA PARAMETERS OF A MANIPULATOR	en_US
dc.type	Article	en_US
dc.identifier.journal	JOURNAL OF ROBOTIC SYSTEMS	en_US
dc.citation.volume	9	en_US
dc.citation.issue	4	en_US
dc.citation.spage	505	en_US
dc.citation.epage	528	en_US
dc.contributor.department	交大名義發表	zh_TW
dc.contributor.department	電控工程研究所	zh_TW
dc.contributor.department	National Chiao Tung University	en_US
dc.contributor.department	Institute of Electrical and Control Engineering	en_US
dc.identifier.wosnumber	WOS:A1992HV63800004	-
dc.citation.woscount	15	-
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