NDLI: Inertia parameter estimation of planar object in pushing operation

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Inertia parameter estimation of planar object in pushing operation

Content Provider	IEEE Xplore Digital Library
Author	Yu, Y. Arima, T. Tsujio, S.
Copyright Year	2005
Description	Author affiliation: Dept. of Mech. Eng., Kagoshima Univ., Japan (Yu, Y.; Arima, T.; Tsujio, S.)
Abstract	A technique that can estimate the inertia parameters of a graspless and unknown planar object, which is pushed by robot fingers, is proposed in this paper. Using the fingertip different accelerations (or angular accelerations), velocities (or angular velocities) and forces information measured in pushing operations, the algorithms to estimate the object mass (or moment of inertia) are described. Then, a line called C.M. line, is defined in this paper. The line contains the center of mass and is between two fingertips which are in point-contact with an object side. By using two or more than two orientation-different C.M. lines, an algorithm to estimate the center of mass of the object is given. Lastly, experimental verification on the proposed approach is performed and its results are outlined.
File Size	347116
File Format	PDF
ISBN	0780393031
DOI	10.1109/ICIA.2005.1635112
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-06-27
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Parameter estimation Force measurement Fingers Angular velocity Acceleration Velocity measurement Mechanical engineering Robots Gravity Orbital robotics
Content Type	Text
Resource Type	Article

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