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Estimation of inertial parameters of rigid body links of manipulators
Open accessAbstract
A method of estimating the mass, the location of center of mass, and the moments of inertia of each rigid body link of a robot during general manipulator movement is presented. The algorithm is derived from the Newton-Euler equations, and uses measurements of the joint torques as well as the measurement and calculation of the kinematics of the manipulator while it is moving. The identification equations are linear in the desired unknown parameters, and a modified least squares algorithm is used to obtain estimates of these parameters. Some of the parameters, however, are not identifiable due to the restricted motion of proximal links and the lack of full force/torque sensing. The algorithm was implemented on the MIT Serial Link Direct Drive Arm. A good match was obtained between joint torques predicted from the estimated parameters and the joint torques computed from motor currents.
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Citations
Cited by
Adaptive motion control of rigid robots: A tutorial
Ortega, R., & Spong, M. W. (1989) · Automatica · doi:10.1016/0005-1098(89)90054-x · Cited by 1,238
Estimation of Inertial Parameters of Manipulator Loads and Links
Atkeson, C. G., An, C. H., & Hollerbach, J. M. (1986) · The International Journal of Robotics Research · doi:10.1177/027836498600500306 · Cited by 590
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Metadata
- Authors
- An, C., Atkeson, C., & Hollerbach, J.
- Venue
- 1985 24th IEEE Conference on Decision and Control
- Publisher
- IEEE
- Published
- 1985-12
- Pages
- 990-995
- ISSN
- 0191-2216 (ISSN-L)
- OpenAlex
- W2079315820
- Cited by
- 221
- References
- 0
- FWCI
- 17.39
- Type
- conference paper
- Language
- en
- Open access
- green
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- An, C., Atkeson, C., & Hollerbach, J. (1985). Estimation of inertial parameters of rigid body links of manipulators. 1985 24th IEEE Conference on Decision and Control. https://doi.org/10.1109/cdc.1985.268648
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