Dynamics analysis, offline–online tuning and identification of base inertia parameters for the 3-DOF Delta parallel robot under insufficient excitations
In this paper, the dynamics model of the 3-Degrees-Of-Freedom (DOF) Delta parallel
manipulator is elaborated by means of a Screw-based formulation of the virtual works …
manipulator is elaborated by means of a Screw-based formulation of the virtual works …
Model identification
This chapter discusses how to determine the kinematic parameters and the inertial
parameters of robot manipulators. Both instances of model identification are cast into a …
parameters of robot manipulators. Both instances of model identification are cast into a …
[BOOK][B] Dynamics of parallel robots: From rigid bodies to flexible elements
S Briot, W Khalil - 2015 - books.google.com
This book starts with a short recapitulation on basic concepts, common to any types of robots
(serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic …
(serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic …
SYMORO+: a system for the symbolic modelling of robots
W Khalil, D Creusot - Robotica, 1997 - cambridge.org
This paper presents the software package SYMORO+ for the automatic symbolic modelling
of robots. This package permits to generate the direct geometric model, the inverse …
of robots. This package permits to generate the direct geometric model, the inverse …
Inverse and direct dynamic modeling of Gough-Stewart robots
W Khalil, S Guegan - IEEE Transactions on Robotics, 2004 - ieeexplore.ieee.org
This paper presents closed-form solutions for the inverse and direct dynamic models of the
Gough-Stewart parallel robot. The models are obtained in terms of the Cartesian dynamic …
Gough-Stewart parallel robot. The models are obtained in terms of the Cartesian dynamic …
Identification of the payload inertial parameters of industrial manipulators
W Khalil, M Gautier, P Lemoine - Proceedings 2007 IEEE …, 2007 - ieeexplore.ieee.org
In this paper we present four methods for the identification of the inertial parameters of the
load of a manipulator. The knowledge of the values of these parameters can be used to tune …
load of a manipulator. The knowledge of the values of these parameters can be used to tune …
A new method for estimating parameters of a dynamic robot model
MM Olsen, HG Petersen - IEEE transactions on robotics and …, 2001 - ieeexplore.ieee.org
The need for open model-based robot controllers becomes more and more important with
the increasing quality of autonomous joint motion planners and the increasing amount of …
the increasing quality of autonomous joint motion planners and the increasing amount of …
A body-oriented method for finding a linear form of the dynamic equation of fully parallel robots
A Codourey, E Burdet - Proceedings of international …, 1997 - ieeexplore.ieee.org
In order to identify the dynamic parameters in nonlinear adaptive control the robot's dynamic
equation has to be written in a linear form. Many methods have been proposed for serial …
equation has to be written in a linear form. Many methods have been proposed for serial …
Identifiability and identification of inertial parameters using the underactuated base-link dynamics for legged multibody systems
In this paper we study the dynamics of multibody systems with the base not permanently
fixed to the inertial frame, or more specifically legged systems such as humanoid robots and …
fixed to the inertial frame, or more specifically legged systems such as humanoid robots and …
Model-based sensorless robot collision detection under model uncertainties with a fast dynamics identification
P Cao, Y Gan, X Dai - International Journal of Advanced …, 2019 - journals.sagepub.com
This article presents a novel model-based sensorless collision detection scheme for human–
robot interaction. In order to recognize external impacts exerted on the manipulator with …
robot interaction. In order to recognize external impacts exerted on the manipulator with …