Identifying Moments of Inertia Parameters for Rigid-Body Manipulators

Rodrigo Jamisola; Elmer P. Dadios

Identifying Moments of Inertia Parameters for Rigid-Body Manipulators

Mechanical, Energy & Industrial Engineering

Research output: Contribution to conference › Paper › peer-review

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 language	English
Publication status	Published - 2009
Event	13th International Conference on Mechatronics Technology - Cebu City, Philippines Duration: Oct 20 2009 → Oct 23 2009

Conference

Conference	13th International Conference on Mechatronics Technology
Abbreviated title	ICMT 2009
Country	Philippines
City	Cebu City
Period	10/20/09 → 10/23/09

Access to Document

https://www.researchgate.net/publication/236651976_Identifying_Moments_of_Inertia_Parameters_for_Rigid-Body_Manipulators

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title = "Identifying Moments of Inertia Parameters for Rigid-Body Manipulators",

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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note = "13th International Conference on Mechatronics Technology, ICMT 2009 ; Conference date: 20-10-2009 Through 23-10-2009",

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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

T2 - 13th International Conference on Mechatronics Technology

Y2 - 20 October 2009 through 23 October 2009

ER -