Identification of Contact Dynamics Parameters for Stiff Robotic Payloads
نویسندگان
چکیده
منابع مشابه
Identification of Contact Dynamics Model Parameters from Constrained Robotic Operations
With the fast advances in computing technology, contact dynamics simulations are playing a more important role in the design, verification, and operation support of space systems. The validity of computer simulation depends not only on the mathematical models but also on the model parameters. This paper describes a novel strategy of identifying contact dynamics parameters based on the sensor da...
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Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...
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Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...
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Dynamics simulation plays a key role in the design, verification, and operation planning of the International Space Station manipulator systems because of the difficulties of ground-based physical tests with large flexible robotic systems. Modeling of contact dynamics has become essential to dynamics simulation of space station robotic operations (such as the assembly and maintenance of the sta...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2009
ISSN: 1552-3098,1941-0468
DOI: 10.1109/tro.2009.2014126