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EnglishIn this paper, the regressor form of the dynamic equations is extended to include the case of serial manipulators with mixed rigid/elastic joints. Under the mild assumption of linearity of the nonlinear joint stiffness characteristics with respect to properly defined elastic parameters, a direct approach to the calculation of an augmented form of the regressor is proposed, where both inertial and elastic parameters appear in factored form. This allows off-line and on-line schemes to be applied for the concurrent identification of both inertial and elastic parameters. In the paper, the proposed methodology is fully detailed, and its application to a simple robot shows its effectiveness.
| Titolo: | Direct derivation of the dynamic regressors for serial manipulators with mixed rigidelastic joints |
| Autori interni: | |
| Anno del prodotto: | 2011 |
| Abstract: | In this paper, the regressor form of the dynamic equations is extended to include the case of serial manipulators with mixed rigid/elastic joints. Under the mild assumption of linearity of the nonlinear joint stiffness characteristics with respect to properly defined elastic parameters, a direct approach to the calculation of an augmented form of the regressor is proposed, where both inertial and elastic parameters appear in factored form. This allows off-line and on-line schemes to be applied for the concurrent identification of both inertial and elastic parameters. In the paper, the proposed methodology is fully detailed, and its application to a simple robot shows its effectiveness. |
| Handle: | http://hdl.handle.net/11568/202511 |
| ISBN: | 9788890634017 |
| Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |
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