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http://dx.doi.org/10.7746/jkros.2012.7.3.222

Dynamic Parameters Identification of Robotic Manipulator using Momentum  

Choi, Young-Jin (Hanyang University, ERICA Campus, Electronic Systems Engineering)
Publication Information
The Journal of Korea Robotics Society / v.7, no.3, 2012 , pp. 222-230 More about this Journal
Abstract
The paper presents a momentum-based regressor by using Hamiltonian dynamics representation for robotic manipulator. It has an advantage in that the proposed regressor does not require the acceleration measurement for the identification of dynamic parameters. Also, the identification algorithm is newly suggested by solving a minimization problem with constraint. The developed algorithm is easy to implement in real-time. Finally, the effectiveness of the proposed momentum-based regressor and identification method is shown through numerical simulations.
Keywords
regressor; momentum; identification; manipulator;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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