An approach to the identifiable parameters of a manipulator

DOI10.1002/ROB.4620110707zbMath0823.70006OpenAlexW2033409529MaRDI QIDQ4318984

Shirkuan Lin

Publication date: 23 October 1995

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.4620110707

zbMATH Keywords

equivalence theoremleast squares theoryinertia matrixgravity loadstep-by-step approachoff-line identification methodefficient recursive formulationminimal linear combinations of system parameters

Mathematics Subject Classification ID

System identification (93B30) Kinematics of mechanisms and robots (70B15)

Cites Work

• A new composite body method for manipulator dynamics
• The use of the generalized links to determine the minimum inertial parameters of robots
• An identification method for estimating the inertia parameters of a manipulator
• Unnamed Item

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