NDLI: Comments on Direct calculation of minimum set of inertial parameters of serial robots

Content Provider	IEEE Xplore Digital Library
Author	Khalil, W. Bennis, F.
Copyright Year	1989
Abstract	The paper presented by Gautier and Khalil (see ibid., vol.6, no.3, p.368-73, 1990) gives a direct and efficient method of calculating most of the minimum inertial parameters of serial robots. Some parameters concerning the translational links between the first two rotational joints that are not parallel need particular calculation; partial results concerning the case where these links are either perpendicular or parallel are given in the above paper. This correspondence presents a direct solution of this particular case, such that all the minimum inertial parameters can be obtained directly without calculating the energy or the dynamic model of any link.<>
Starting Page	78
Ending Page	79
Page Count	2
File Size	135678
File Format	PDF
ISSN	1042296X
Volume Number	10
Issue Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-02-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Robotics and automation Potential energy Kinetic theory Vectors
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

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Comments on Direct calculation of minimum set of inertial parameters of serial robots