Please wait, while we are loading the content...
Please wait, while we are loading the content...
| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Gautier, M. Briot, S. Venture, G. |
| Copyright Year | 2013 |
| Description | Author affiliation: Inst. de Rech. en Commun. et Cybernetique de Nantes (IRCCyN), Univ. of Nantes, Nantes, France (Gautier, M.) || Dept. of Mech. Syst. Eng., Tokyo Univ. of Agric. & Technol., Koganei, Japan (Venture, G.) || CNRS, Nantes, France (Briot, S.) |
| Abstract | The dynamics of each link and joint of a robot is characterized by a set of 14 standard dynamic parameters (6 for the inertia matrix, 3 for the centre of mass coordinates, 1 for the mass and 4 for the drive chain inertia and friction). It is known that only a subset of the standard parameters, called the base parameters, are identifiable using the inverse dynamic model and the linear least squares techniques. Moreover, some of the base parameters are poorly identified because they poorly affect the joint torque. Thus they can be eliminated, leading to a new subset of dynamic parameters called the essential parameters. However, the identified values of the base or the essential parameters may be physically inconsistent regarding to the loss of the positive definiteness of the robot inertia matrix. Several methods have been developed in the past to verify the physical consistency of the identified parameters but they are complicated, time consuming and lead to non-optimal parameters. To overcome these drawbacks, a new method calculates a set of optimal standard dynamic parameters which are the closest to a priori consistent dynamic parameters obtained through CAD data given by the robot manufacturers. This is a straightforward method which is based on using the SVD and the Cholesky factorization and the linear least squares techniques. The new procedure is experimentally validated on an industrial 6 degrees of freedom Stäubli TX-40 robot. |
| Sponsorship | IEEE Ind. Electron. Soc. |
| Starting Page | 1429 |
| Ending Page | 1435 |
| File Size | 327906 |
| Page Count | 7 |
| File Format | |
| ISBN | 9781467353199 |
| ISSN | 21596247 |
| e-ISBN | 9781467353205 |
| DOI | 10.1109/AIM.2013.6584295 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2013-07-09 |
| Publisher Place | Australia |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Standards Joints Vectors Robot kinematics Torque Solid modeling |
| Content Type | Text |
| Resource Type | Article |
National Digital Library of India (NDLI) is a virtual repository of learning resources which is not just a repository with search/browse facilities but provides a host of services for the learner community. It is sponsored and mentored by Ministry of Education, Government of India, through its National Mission on Education through Information and Communication Technology (NMEICT). Filtered and federated searching is employed to facilitate focused searching so that learners can find the right resource with least effort and in minimum time. NDLI provides user group-specific services such as Examination Preparatory for School and College students and job aspirants. Services for Researchers and general learners are also provided. NDLI is designed to hold content of any language and provides interface support for 10 most widely used Indian languages. It is built to provide support for all academic levels including researchers and life-long learners, all disciplines, all popular forms of access devices and differently-abled learners. It is designed to enable people to learn and prepare from best practices from all over the world and to facilitate researchers to perform inter-linked exploration from multiple sources. It is developed, operated and maintained from Indian Institute of Technology Kharagpur.
Learn more about this project from here.
NDLI is a conglomeration of freely available or institutionally contributed or donated or publisher managed contents. Almost all these contents are hosted and accessed from respective sources. The responsibility for authenticity, relevance, completeness, accuracy, reliability and suitability of these contents rests with the respective organization and NDLI has no responsibility or liability for these. Every effort is made to keep the NDLI portal up and running smoothly unless there are some unavoidable technical issues.
Ministry of Education, through its National Mission on Education through Information and Communication Technology (NMEICT), has sponsored and funded the National Digital Library of India (NDLI) project.
| Sl. | Authority | Responsibilities | Communication Details |
|---|---|---|---|
| 1 | Ministry of Education (GoI), Department of Higher Education |
Sanctioning Authority | https://www.education.gov.in/ict-initiatives |
| 2 | Indian Institute of Technology Kharagpur | Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project | https://www.iitkgp.ac.in |
| 3 | National Digital Library of India Office, Indian Institute of Technology Kharagpur | The administrative and infrastructural headquarters of the project | Dr. B. Sutradhar bsutra@ndl.gov.in |
| 4 | Project PI / Joint PI | Principal Investigator and Joint Principal Investigators of the project |
Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon |
| 5 | Website/Portal (Helpdesk) | Queries regarding NDLI and its services | support@ndl.gov.in |
| 6 | Contents and Copyright Issues | Queries related to content curation and copyright issues | content@ndl.gov.in |
| 7 | National Digital Library of India Club (NDLI Club) | Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach | clubsupport@ndl.gov.in |
| 8 | Digital Preservation Centre (DPC) | Assistance with digitizing and archiving copyright-free printed books | dpc@ndl.gov.in |
| 9 | IDR Setup or Support | Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops | idr@ndl.gov.in |
|
Loading...
|