Identification of Dynamic Parameters for Robots with Elastic Joints
This paper presents a novel method for identifying dynamic parameters of robot manipulators with elastic joints. A procedure based on the Lagrangianm formulation of the dynamic model is proposed. Each term is inspected to search for a linear relationship with the dynamic parameters, thus enabling th...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2015-02-01
|
| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1155/2014/843186 |