An identification method for estimating the inertia parameters of a manipulator

Shir-Kuan Lin*

*Corresponding author for this work

Research output: Contribution to journalArticle

20 Scopus citations

Abstract

This article presents an off‐line identification method to estimate the minimal knowledge of the inertia parameters for determining the dynamic model of a manipulator. A new approach is proposed to find a set of the minimal knowledge of the inertia parameters. This set is recursively estimated by moving one joint at a time. The off‐line identification procedure also provides a sufficient condition for a persistently exciting trajectory. A simulation example of Stanford arm illustrates the validity and simplicity of the identification procedure.

Original languageEnglish
Pages (from-to)505-528
Number of pages24
JournalJournal of Robotic Systems
Volume9
Issue number4
DOIs
StatePublished - 1 Jan 1992

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