Estimation of Inertial Parameters of Rigid Body Links of Manipulators.

Abstract

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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Document Details

Document Type
Technical Report
Publication Date
Feb 01, 1986
Accession Number
ADA167930

Entities

People

  • Chae H. An
  • Christopher G. Atkeson
  • John M. Hollerbach

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Accuracy
  • Adaptive Systems
  • Algorithms
  • Angular Acceleration
  • Artificial Intelligence
  • Computations
  • Control Systems
  • Coordinate Systems
  • Equations
  • Euler Equations
  • Geometry
  • Measurement
  • Mechanical Engineering
  • Military Research
  • Moment Of Inertia
  • Numerical Analysis
  • Simulations

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Control Systems Engineering.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy