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.

Direct derivation of the dynamic regressors for serial manipulators with mixed rigidelastic joints

GABICCINI, MARCO;ARTONI, ALESSIO
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.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11568/202511
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