کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
414062 680804 2010 6 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
An overview of dynamic parameter identification of robots
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
An overview of dynamic parameter identification of robots
چکیده انگلیسی

Due to the importance to model-based control, dynamic parameter identification has attracted much attention. However, until now, there is still much work for the identification of dynamic parameters to be done. In this paper, an overview is given of the existing work on dynamic parameter identification of serial and parallel robots. The methods for estimating the dynamic parameters are summarized, and the advantages and disadvantages of each method are discussed. The model to be identified and the trajectory optimization are reviewed. Further, the methods for validating the estimated model are summarized and the application of dynamic parameter identification is mentioned. The results of this review are useful for manufacturers of robots in selecting proper identification method and also for researchers in determining further research areas.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Computer-Integrated Manufacturing - Volume 26, Issue 5, October 2010, Pages 414–419
نویسندگان
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