Recursive Method for Searching Base Inertia Parameters of Manipulation Mechanisms
| Authors: Krutikov S.L. | Published: 09.09.2013 |
| Published in issue: #1(86)/2012 | |
| DOI: | |
| Category: Mechatronics and Robotics | |
| Keywords: base inertia parameters, dynamical manipulator model, Lagrange equations of motion, PUMA-560 manipulator | |
Main ideas of the method for searching base inertia parameters are given. A recursive approach to its implementation is offered, which is efficient from the standpoint of speedof operation, and practical aspects of applying this approach are also considered. Results of using the program, developed according to the offered algorithm, for the PUMA 560 manipulator are presented.