Parameter identification methods for real redundant manipulators
نویسندگان
چکیده
منابع مشابه
Parameter identification methods for real redundant manipulators
This work presents the development, assessment and comparison of four techniques for identifying dynamic parameters in an industrial redundant manipulator robot with 5 degrees of freedom. Based on the Lagrange–Euler formulation, a linear model of the robot with unknown parameters is obtained. Then, these parameters are identified using the following techniques: least squares, artificial Adaline...
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Vicente Mata1, Nidal Farhat1, Miguel Díaz-Rodríguez2, Ángel Valera3 and Álvaro Page4, Universidad Politécnica de Valencia, Departamento de Mecánica y Materiales Valencia1, Universidad de los Andes, Facultad de Ingeniería, Departamento de Tecnología y Diseño Mérida2, Universidad Politécnica de Valencia, Departamento de Ingeniería de Sistemas y Automática Valencia3, Universidad Politécnica de Val...
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A robotic system is kinematically redundant when it possesses more degrees of freedom than those required to execute a given task. This paper reviews the well-known methods used to find the inverse kinematics of redundant manipulators. Because redundant manipulators have infinite solutions for their inverse kinematics, therefore the conventional method that was used to calculate the inverse kin...
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ژورنال
عنوان ژورنال: Journal of Applied Research and Technology
سال: 2017
ISSN: 1665-6423
DOI: 10.1016/j.jart.2017.02.004