Dynamic parameter identification in industrial robots considering physical feasibility

Advanced Robotics

Volumn 19, Issue 1, 2005, Pages 101-119

  Mata, Vicente ^a   Benimeli, Francesc ^a   Farhat, Nidal ^a   Valera, Angel ^a  

^a UNIVERSITAT POLITÈCNICA DE VALÈNCIA   (Spain)

Author keywords

Dynamic parameter identification; Dynamic simulation; Friction model; Gibbs Appell equations; Physical feasibility; Sequential Quadratic Programming

Indexed keywords

ACTUATORS; COMPUTER SIMULATION; FRICTION; IDENTIFICATION (CONTROL SYSTEMS); LINEAR SYSTEMS; MATRIX ALGEBRA; QUADRATIC PROGRAMMING; TORQUE;

FRICTION MODEL; GIBBS-APPELL EQUATIONS; PHYSICAL FEASIBILITY; SEQUENTIAL QUADARATIC PROGRAMMING;

INDUSTRIAL ROBOTS;

EID: 13444249796     PISSN: 01691864     EISSN: None     Source Type: Journal    
DOI: 10.1163/1568553053020269     Document Type: Article

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