Identification of Dynamic Parameters for Robots with Elastic Joints

Identification of Dynamic Parameters for Robots with Elastic Joints

This paper presents a novel method for identifying dynamic parameters of robot manipulators with elastic joints. A procedure based on the Lagrangianm formulation of the dynamic model is proposed. Each term is inspected to search for a linear relationship with the dynamic parameters, thus enabling th...

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Bibliographic Details
Main Authors:	Loredana Zollo, Edoardo Lopez, Luca Spedaliere, Nicolas Garcia Aracil, Eugenio Guglielmelli
Format:	Article
Language:	English
Published:	SAGE Publishing 2015-02-01
Series:	Advances in Mechanical Engineering
Online Access:	https://doi.org/10.1155/2014/843186

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