About a basis-free vectorial perspective manipulator dynamic parameters I: Tree structures
نویسندگان
چکیده
منابع مشابه
Identification of Dynamic Parameters of an Industrial Manipulator
This paper discusses the identification of dynamic parameters of an industrial robot KUKA KR5 with all revolute joints and serial architecture. For this, the simplified model of the robot was taken into account by considering only those joints which normally operates orthogonal to the gravity vector. The first approach used for finding the dynamic parameters of this simplified model was by form...
متن کاملDynamic Identification of Manipulator: Comparison between CAD and Actual Parameters
It is essential to know the dynamic parameters of the robot for its precise control and simulation. Philosophy of identification is based on finding the model using its input-output data. The identification equation of the manipulator is derived from Newton-Euler equations, using manipulator kinematic, i.e., geometric parameters and joint values as input and joint torque data as output. In this...
متن کاملGeometric structures of vectorial type
We study geometric structures of W4-type in the sense of A. Gray on a Riemannian manifold. If the structure group G ⊂ SO(n) preserves a spinor or a non-degenerate differential form, its intrinsic torsion Γ is a closed 1-form (Proposition 2.1 and Theorem 2.1). Using a G-invariant spinor we prove a splitting theorem (Proposition 2.2). The latter result generalizes and unifies a recent result obta...
متن کاملDynamic Tree-like Structures in P2p-networks
The search in P2P systems is still a problem because of the dynamic nature of these systems and the lack of central catalogs. In order to improve the search in P2P systems, a sorted structure is created from the content of all nodes in the system. Different from other approaches, a tree like structure is built by tokens which are constantly moving between the nodes and carrying all structural i...
متن کاملSingularity-Free Dynamic Equations of AUV-Manipulator Systems
In this paper we derive the singularity-free dynamic equations of AUV-manipulator systems using a minimal representation. Autonomous underwater vehicles (AUVs) are normally modeled using the singularity-prone Euler angles, but introducing quasi-coordinates allows us to derive the dynamics using minimal and globally valid non-Euclidean configuration coordinates. This is a great advantage as the ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Robotic Systems
سال: 2000
ISSN: 0741-2223,1097-4563
DOI: 10.1002/1097-4563(200101)18:1<39::aid-rob4>3.0.co;2-8