Parameter Identification of Mechanical Manipulators

نویسندگان
چکیده

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Dynamic Parameter Identification for Parallel Manipulators

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...

متن کامل

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...

متن کامل

Toolbox for Simulation and Parameter Identification of Nonlinear Mechanical Systems

Analysis of nonlinear mechanical systems is becoming increasingly important in many applications in automotive, aerospace and other industries. Many experimental techniques for analysis of nonlinear systems have been developed in recent research. It is important to be able to accurately simulate nonlinear systems for various input signals in order to understand dynamic effects of the nonlineari...

متن کامل

Passive Velocity Field Control of Mechanical Manipulators

Two concepts are advocated for the task specification and control of mechanical manipulators: 1) coding tasks in terms of velocity fields; 2) designing controllers so that the manipulator when under feedback control, interacts in an energetically passive manner with its physical environment. Based on these two concepts, a new passive velocity field controller (PVFC) is proposed which mimics the...

متن کامل

A new approach to the dynamic parameter identification of robotic manipulators

This paper presents a novel systematic approach to identify the dynamic parameters of robotic manipulators. A sequential identification procedure is firstly proposed to deal with the difficulties usually encountered with standard approaches. An all-accelerometer inertial measurement unit (IMU) is also suggested to estimate the joint velocities and accelerations, which are traditionally obtained...

متن کامل

ذخیره 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: Transactions of the Society of Instrument and Control Engineers

سال: 1986

ISSN: 0453-4654

DOI: 10.9746/sicetr1965.22.76