AN IDENTIFICATION METHOD FOR ESTIMATING THE INERTIA PARAMETERS OF A MANIPULATOR
| dc.citation.epage | 528 | en_US |
| dc.citation.issue | 4 | en_US |
| dc.citation.spage | 505 | en_US |
| dc.citation.volume | 9 | en_US |
| dc.citation.woscount | 15 | |
| dc.contributor.author | LIN, SK | 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.date.accessioned | 2014-12-08T15:04:52Z | |
| dc.date.available | 2014-12-08T15:04:52Z | |
| dc.date.issued | 1992-06-01 | en_US |
| 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.identifier.issn | 0741-2223 | en_US |
| dc.identifier.journal | JOURNAL OF ROBOTIC SYSTEMS | en_US |
| dc.identifier.uri | https://ir.lib.nycu.edu.tw/handle/11536/3387 | |
| dc.identifier.wosnumber | WOS:A1992HV63800004 | |
| 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 |