Identifying Moments of Inertia Parameters for Rigid-Body Manipulators

Rodrigo Jamisola, Elmer P. Dadios

Research output: Contribution to conferencePaper

Abstract

Among rigid-body dynamics parameters, the inertia is more difficult to identify or verify. In fact, some robot manufacturers provide information on masses and centers of masses, but not on inertias. This work will propose an experimental procedure in identifying inertia parameters through natural oscillation. The experiment proceeds by letting the rigid-body system achieve a linear second-order system response and its oscillation is measured. A well-defined value of the desired natural oscillation transforms the identification experiment into an optimization problem. A theorem is presented to justify the validity of the experimental approach, and experimental results are shown.

Original languageEnglish
Publication statusPublished - 2009
Event13th International Conference on Mechatronics Technology - Cebu City, Philippines
Duration: Oct 20 2009Oct 23 2009

Conference

Conference13th International Conference on Mechatronics Technology
Abbreviated titleICMT 2009
CountryPhilippines
CityCebu City
Period10/20/0910/23/09

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Manipulators
Experiments
Robots

Cite this

Jamisola, R., & Dadios, E. P. (2009). Identifying Moments of Inertia Parameters for Rigid-Body Manipulators. Paper presented at 13th International Conference on Mechatronics Technology, Cebu City, Philippines.
Jamisola, Rodrigo ; Dadios, Elmer P. / Identifying Moments of Inertia Parameters for Rigid-Body Manipulators. Paper presented at 13th International Conference on Mechatronics Technology, Cebu City, Philippines.
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abstract = "Among rigid-body dynamics parameters, the inertia is more difficult to identify or verify. In fact, some robot manufacturers provide information on masses and centers of masses, but not on inertias. This work will propose an experimental procedure in identifying inertia parameters through natural oscillation. The experiment proceeds by letting the rigid-body system achieve a linear second-order system response and its oscillation is measured. A well-defined value of the desired natural oscillation transforms the identification experiment into an optimization problem. A theorem is presented to justify the validity of the experimental approach, and experimental results are shown.",
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Jamisola, R & Dadios, EP 2009, 'Identifying Moments of Inertia Parameters for Rigid-Body Manipulators' Paper presented at 13th International Conference on Mechatronics Technology, Cebu City, Philippines, 10/20/09 - 10/23/09, .

Identifying Moments of Inertia Parameters for Rigid-Body Manipulators. / Jamisola, Rodrigo; Dadios, Elmer P.

2009. Paper presented at 13th International Conference on Mechatronics Technology, Cebu City, Philippines.

Research output: Contribution to conferencePaper

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T1 - Identifying Moments of Inertia Parameters for Rigid-Body Manipulators

AU - Jamisola, Rodrigo

AU - Dadios, Elmer P.

PY - 2009

Y1 - 2009

N2 - Among rigid-body dynamics parameters, the inertia is more difficult to identify or verify. In fact, some robot manufacturers provide information on masses and centers of masses, but not on inertias. This work will propose an experimental procedure in identifying inertia parameters through natural oscillation. The experiment proceeds by letting the rigid-body system achieve a linear second-order system response and its oscillation is measured. A well-defined value of the desired natural oscillation transforms the identification experiment into an optimization problem. A theorem is presented to justify the validity of the experimental approach, and experimental results are shown.

AB - Among rigid-body dynamics parameters, the inertia is more difficult to identify or verify. In fact, some robot manufacturers provide information on masses and centers of masses, but not on inertias. This work will propose an experimental procedure in identifying inertia parameters through natural oscillation. The experiment proceeds by letting the rigid-body system achieve a linear second-order system response and its oscillation is measured. A well-defined value of the desired natural oscillation transforms the identification experiment into an optimization problem. A theorem is presented to justify the validity of the experimental approach, and experimental results are shown.

M3 - Paper

ER -

Jamisola R, Dadios EP. Identifying Moments of Inertia Parameters for Rigid-Body Manipulators. 2009. Paper presented at 13th International Conference on Mechatronics Technology, Cebu City, Philippines.