Method of Identifying Inertial Parameters of Manipulator Based on Wrist Force Sensor
CHEN En-wei1, LIU Zheng-shi1, GAN Fang-jian2
1. Institute of Sound and Vibration Engineering, School of Mechanical and Automotive Engineering, Hefei University of Technology, Hefei 230009, China; 2. Department of Modern Mechanics, University of Science and Technology of China, Hefei 230052, China
陈恩伟, 刘正士, 干方建. 基于腕力传感器的机器人操作臂惯性参数辨识方法[J]. 机器人, 2006, 28(2): 125-129..
CHEN En-wei, LIU Zheng-shi, GAN Fang-jian. Method of Identifying Inertial Parameters of Manipulator Based on Wrist Force Sensor. ROBOT, 2006, 28(2): 125-129..
Abstract：For structure design and dynamic control of industrial robots,without using the base force sensor that is required in existing methods,a method is proposed that takes full advantage of the signals from wrist force sensor,applies the recursion equations of kinematics and dynamics,and deduces the converse inertial parameters identification model of all links by Newton-Euler formula.An example is given to explain the application of the method.The theoretical basis is offered for dynamic modeling of manipulator.
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