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A proof of the Ge–Lee statement on the inertia regressor of robot manipulators
| Content Provider | Scilit |
|---|---|
| Author | Mulero-Martínez, Juan Ignacio |
| Copyright Year | 2012 |
| Description | SUMMARY: This paper delivers a proof of a statement due to Ge and Lee. Specifically, these authors stated, without proof, that the entries of the inertia matrix may be completely parameterized by stacking elements of a regressor superset. This superset has the advantage of avoiding to derive the complete dynamics of a robot manipulator. On the basis of both mechanics and combinatorial arguments, we deliver a formal proof. In addition, we improve the estimations by sorting joint variables and partitioning the inertia matrix that results into the reduction of the regressor superset. The number of nonlinear functions in the regressor is also quantified. A 2 degrees of freedom revolute robot is presented to illustrate these ideas. |
| Related Links | https://www.cambridge.org/core/services/aop-cambridge-core/content/view/E9DFDF4D56196147143977EC3F142ACD/S0263574712000033a.pdf/div-class-title-a-proof-of-the-ge-lee-statement-on-the-inertia-regressor-of-robot-manipulators-div.pdf |
| Ending Page | 59 |
| Page Count | 5 |
| Starting Page | 55 |
| ISSN | 02635747 |
| e-ISSN | 14698668 |
| DOI | 10.1017/s0263574712000033 |
| Journal | Robotica |
| Issue Number | 1 |
| Volume Number | 31 |
| Language | English |
| Publisher | Cambridge University Press (CUP) |
| Publisher Date | 2012-03-16 |
| Access Restriction | Open |
| Subject Keyword | Robotica Inertia Regressor Ge–lee Parametrization Kronecker Product Robot Dynamics |
| Content Type | Text |
| Resource Type | Article |
| Subject | Control and Optimization Artificial Intelligence Rehabilitation Control and Systems Engineering Mechanical Engineering Computational Mechanics Modeling and Simulation Computer Science Applications Computer Vision and Pattern Recognition Software |
