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Parameter identification for a robotic manipulator arm
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Gibson, J. S. Brewer, D. W. |
| Copyright Year | 1985 |
| Description | The development is described of a nonlinear dynamic model for large oscillations of a robotic manipulator arm about a single joint. Optimization routines are formulated and implemented for the identification of electrical and physical parameters from dynamic data taken from an industrial robot arm. Special attention is given to the role of sensitivity in the formulation of robust models of this motion. The importance of actuator effects in the reduction of sensitivity is established and used to develop an electromechanical model of the manipulator system. |
| File Size | 472604 |
| Page Count | 27 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19860004490 |
| Archival Resource Key | ark:/13960/t0kt1k81t |
| Language | English |
| Publisher Date | 1985-09-01 |
| Access Restriction | Open |
| Subject Keyword | Numerical Analysis Electromechanical Devices Sensitivity Joints Junctions Electrical Properties Oscillations Manipulators Systems Analysis Mathematical Models Parameter Identification Nonlinear Systems Robotics Optimization Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Technical Report |
