This paper deals with the problem of identifying the inertia parameters of a manipulator. We begin by introducing the terminology of minimal linear combinations of the inertia parameters (MLC’s) that are liiearly independent of one another and determine the manipulator dynamics while keeping the number of linear combinations of the inertia parameters to a minimum. The problem is then to find an...

This work will present an experimental procedure in identifying the moments of inertia, mass, and center of mass of a rigid-body manipulator through natural oscillations. Based on the response of the manipulator, the values of the dynamics parameters to be identified are adjusted in such a way that the desired natural oscillation is achieved. The experiments to be performed on a manipulator und...

This paper presents algorithms for identifying parameters of an N degrees-of-freedom robotic manipulator. First, we outline the fundamental properties of the Newton-Euler formulation of robot dynamics from the view point of parameter identification. We then show that the Newton-Euler model which is nonlinear in the dynamic parameters can be transformed into an equivalent modified model which is...

Linearized dynamics models for manipulators are useful in robot analysis, motion planning, and control applications. In this paper we use techniques from the spatial operator algebra to obtain closed form operator expressions for two types of linearized dynamics models, the Linearized Inverse and Forward Dynamics Models. We rst develop spatially recursive algorithms of O(n) and O(n) complexity ...

This paper presents algorithms for identifying parameters of an N degrees-of-freedom robotic manipulator. First, we outline the fundamental properties of the Newton-Euler formulation of robot dynamics from the view point of parameter identification. We then show that the Newton-Euler model which is nonlinear in the dynamic parameters can be transformed into an equivalent modified model which is...

Traditional feedback linearization approach (TFL) requires a priori knowledge of plant, which is difficult and the computational efficiency of controller is low due to the complex dynamics of spatial 6-DOF hydraulic parallel manipulator. In order to improve the tracking performance of spatial 6-DOF hydraulic parallel manipulator and to conquer the drawbacks of TFL, a novel approximate feedback ...

The Modular Distributed Manipulator System (MDMS) is a macroscopic actuator array which can manipulate objects in the plane. The piecewise-constant dynamics of manipulation on the MDMS are developed based on an exact discrete representation of the system. The resulting dynamics are inverted enabling the calculation of an open-loop vector eld which provides arbitrary uniform object dynamics. The...

The Modular Distributed Manipulator System (MDMS) is a macroscopic actuator array which can manipulate objects in the plane. The piecewiseconstant dynamics of manipulation on the MDMS are developed based on an exact discrete representation of the system. The resulting dynamics are inverted enabling the calculation of an open-loop vector eld which provides arbitrary uniform object dynamics. The ...

Matrix relations in kinematics and dynamics of the Star parallel manipulator are established in this paper. The prototype of the manipulator is a three-degree-of-freedom mechanism, which consists of a system of parallel kinematical chains connecting to a moving platform. Knowing the translation motion of the platform, we develop first the inverse kinematics problem and determine the position, v...

Model-based control strategies for robot manipulators can present numerous performance advantages when an accurate model of the system dynamics is available. In practice, obtaining such a model is a challenging task which involves modeling such physical processes as friction, which may not be well understood and difficult to model. Furthermore, uncertainties in the physical parameters of a syst...