CALCULATION OF INERTIAL PARAMETER OF ROBOT MANIPULATOR

SUN Changguo, MA Xianfeng, TAN Jilin. CALCULATION OF INERTIAL PARAMETER OF ROBOT MANIPULATOR[J]. ROBOT, 1990, 12(2): 19-24.

Citation:

SUN Changguo, MA Xianfeng, TAN Jilin. CALCULATION OF INERTIAL PARAMETER OF ROBOT MANIPULATOR[J]. ROBOT, 1990, 12(2): 19-24.

Citation:

SUN Changguo, MA Xianfeng, TAN Jilin. CALCULATION OF INERTIAL PARAMETER OF ROBOT MANIPULATOR[J]. ROBOT, 1990, 12(2): 19-24.

Abstract

Conception of inertial parameter of rigid body was systematically summarized in this paper. Transformationformula of inertial parametrs in different coordinates, method and program package PIPM for calculating inertialparameters of manipulator were presented. An example with experimental results was given.

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