A systematic procedure for the identification of dynamic parameters of robot manipulators
In this paper a complete and systematic procedure for the identification of the dynamic parameters of rigid robot manipulators is presented. Starting from the basic results on the subject present in the literature and on a new technique to find exciting trajectories for the estimation, the procedure...
Saved in:
| Published in | Robotica Vol. 17; no. 4; pp. 427 - 435 |
|---|---|
| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
Cambridge
Cambridge University Press
01.07.1999
|
| Subjects | |
| Online Access | Get full text |
| ISSN | 0263-5747 1469-8668 |
| DOI | 10.1017/S026357479900140X |
Cover
Loading…
| Abstract | In this paper a complete and systematic procedure for the identification of the
dynamic parameters of rigid robot manipulators is presented. Starting from the basic results on the subject present in the literature and on a new technique to find exciting trajectories for the estimation, the procedure is developed. A set of algorithms is provided for the implementation of the various steps of the procedure for a generic open-chain structure. The algorithms have been coded in the popular Matlab/Maple environment and the procedure
has been tested in a practical case study to identify the dynamic parameters of a six-degree-of-freedom conventional industrial robot. |
|---|---|
| AbstractList | In this paper a complete and systematic procedure for the identification of the dynamic parameters of rigid robot manipulators is presented. Starting from the basic results on the subject present in the literature and on a new technique to find exciting trajectories for the estimation, the procedure is developed. A set of algorithms is provided for the implementation of the various steps of the procedure for a generic open-chain structure. The algorithms have been coded in the Matlab/Maple environment and the procedure has been tested in a practical case study to identify the dynamic parameters of a 6-degree-of-freedom conventional industrial robot. (Original abstract) In this paper a complete and systematic procedure for the identification of the dynamic parameters of rigid robot manipulators is presented. Starting from the basic results on the subject present in the literature and on a new technique to find exciting trajectories for the estimation, the procedure is developed. A set of algorithms is provided for the implementation of the various steps of the procedure for a generic open-chain structure. The algorithms have been coded in the popular Matlab/Maple environment and the procedure has been tested in a practical case study to identify the dynamic parameters of a six-degree-of-freedom conventional industrial robot. |
| Author | Chiacchio, P. Antonelli, G. Caccavale, F. |
| Author_xml | – sequence: 1 givenname: G. surname: Antonelli fullname: Antonelli, G. organization: Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli Federico II, Via Claudio 21, 80125 Napoli (Italy) – sequence: 2 givenname: F. surname: Caccavale fullname: Caccavale, F. organization: Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli Federico II, Via Claudio 21, 80125 Napoli (Italy) – sequence: 3 givenname: P. surname: Chiacchio fullname: Chiacchio, P. organization: Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli Federico II, Via Claudio 21, 80125 Napoli (Italy) |
| BackLink | http://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=1914208$$DView record in Pascal Francis |
| BookMark | eNp9kUFv1DAQhS3USmxbfgC3HBC3gB0ntnOsChSkSgjaIuBiTZwxuCT21nYk9t_jsKseQOrJkt_33oyfT8iRDx4Jec7oK0aZfH1NG8E72cq-p5S19OsTsmGt6GslhDoim1WuV_0pOUnprjCctXJDvp1XaZcyzpCdqbYxGByXiJUNsco_sXIj-uysM0UPvgq2Gnce5pWFCDNmjGm9jWEIuZrBu-0yQQ4xnZFjC1PCZ4fzlNy-e3tz8b6--nj54eL8qjZcdbkeBxxx6FRjUbZlVwABnbAdVYw2pqUjH7A3iMPAQVna2l5K3jDRqH4Aaxp-Sl7uc8vy9wumrGeXDE4TeAxL0o1krSr5BXxxACEZmGwEb1zS2-hmiDvNetY2VBVM7jETQ0oRrTYu_319juAmzaheG9f_NV6c7B_nQ_YjnnrvceUTfj8YIP7SQnLZaXH5SXPFv3958_lGs8LzwwyYh-jGH6jvwhJ9afiRKX8ANtukug |
| CODEN | ROBODV |
| CitedBy_id | crossref_primary_10_1007_s00170_021_08557_3 crossref_primary_10_1016_j_conengprac_2003_11_011 crossref_primary_10_3182_20050703_6_CZ_1902_01301 crossref_primary_10_1016_j_rcim_2011_01_004 crossref_primary_10_1051_matecconf_201929101004 crossref_primary_10_1016_j_robot_2018_02_007 crossref_primary_10_1109_TCST_2010_2077294 crossref_primary_10_1108_01439910710738854 crossref_primary_10_3390_robotics10030083 crossref_primary_10_3724_SP_J_1218_2011_00440 crossref_primary_10_3390_app12105147 crossref_primary_10_1109_LRA_2021_3094781 crossref_primary_10_3182_20090909_4_JP_2010_00030 crossref_primary_10_1109_TMECH_2012_2212716 crossref_primary_10_1115_1_4027506 crossref_primary_10_1108_01439911011009948 crossref_primary_10_1017_S0263574714001465 crossref_primary_10_5772_45818 crossref_primary_10_1016_j_mechmachtheory_2010_04_007 crossref_primary_10_1155_2014_843186 crossref_primary_10_1007_s11071_022_08192_x crossref_primary_10_2514_2_5044 crossref_primary_10_3390_app11094303 crossref_primary_10_1177_1729881418758578 crossref_primary_10_1109_MRA_2020_3004149 crossref_primary_10_1109_ACCESS_2022_3151070 crossref_primary_10_1115_1_2837310 crossref_primary_10_1017_S026357471000024X crossref_primary_10_1016_j_mechatronics_2009_09_003 crossref_primary_10_1115_1_4030867 crossref_primary_10_1016_j_rcim_2022_102476 crossref_primary_10_1108_IR_01_2019_0007 crossref_primary_10_1080_00423114_2013_792940 crossref_primary_10_1016_j_robot_2021_103971 |
| ContentType | Journal Article |
| Copyright | 1999 Cambridge University Press 1999 INIST-CNRS |
| Copyright_xml | – notice: 1999 Cambridge University Press – notice: 1999 INIST-CNRS |
| DBID | BSCLL AAYXX CITATION IQODW 8FD F28 FR3 |
| DOI | 10.1017/S026357479900140X |
| DatabaseName | Istex CrossRef Pascal-Francis Technology Research Database ANTE: Abstracts in New Technology & Engineering Engineering Research Database |
| DatabaseTitle | CrossRef Technology Research Database ANTE: Abstracts in New Technology & Engineering Engineering Research Database |
| DatabaseTitleList | Technology Research Database CrossRef |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering Applied Sciences |
| EISSN | 1469-8668 |
| EndPage | 435 |
| ExternalDocumentID | 1914208 10_1017_S026357479900140X ark_67375_6GQ_383ZVDRT_1 |
| GroupedDBID | -1D -1F -2P -2V -E. -~6 -~N -~X .DC .FH 09C 09E 0E1 0R~ 123 29P 3V. 4.4 5VS 6~7 74X 74Y 7~V 8FE 8FG 8R4 8R5 9M5 AAAZR AABES AABWE AACJH AAGFV AAKTX AAMNQ AANRG AARAB AASVR AAUIS AAUKB ABBXD ABBZL ABITZ ABJCF ABJNI ABKKG ABMWE ABQTM ABQWD ABROB ABTCQ ABUWG ABVFV ABVKB ABVZP ABXAU ABZCX ACBMC ACDLN ACETC ACGFS ACIMK ACIWK ACMRT ACUIJ ACYZP ACZBM ACZUX ACZWT ADCGK ADDNB ADFEC ADKIL ADOVH ADOVT ADVJH AEBAK AEBPU AEHGV AEMTW AENCP AENEX AENGE AEYYC AFFNX AFFUJ AFKQG AFKRA AFLOS AFLVW AFUTZ AFZFC AGABE AGBYD AGJUD AGLWM AHQXX AHRGI AIGNW AIHIV AIOIP AISIE AJ7 AJCYY AJPFC AJQAS AKZCZ ALMA_UNASSIGNED_HOLDINGS ALVPG ALWZO AQJOH ARABE ARAPS ARZZG ATUCA AUXHV AYIQA AZQEC BBLKV BCGOX BENPR BESQT BGHMG BGLVJ BJBOZ BLZWO BMAJL BPHCQ C0O CAG CBIIA CCPQU CCQAD CCUQV CDIZJ CFAFE CFBFF CGQII CHEAL CJCSC COF CS3 DC4 DOHLZ DU5 DWQXO EBS EGQIC EJD F5P GNUQQ HCIFZ HG- HST HZ~ I.6 I.7 I.9 IH6 IOEEP IOO IS6 I~P J36 J38 J3A JHPGK JQKCU K6V K7- KAFGG KCGVB KFECR L6V L98 LHUNA LW7 M-V M0N M7S M7~ M8. MVM NIKVX NMFBF NZEOI O9- OYBOY P2P P62 PQQKQ PROAC PTHSS PYCCK Q2X RAMDC RCA RNS ROL RR0 S6- S6U SAAAG T9M TN5 UT1 VOH WFFJZ WH7 WQ3 WXU WYP ZDLDU ZJOSE ZMEZD ZYDXJ ~V1 AAKNA ABGDZ ABXHF ACEJA ADMLS AKMAY ANOYL BSCLL PHGZM PHGZT PQGLB PUEGO AAYXX ABHFL ACOZI CITATION IQODW 8FD F28 FR3 |
| ID | FETCH-LOGICAL-c385t-dbedeb582fe74668aa6a56f508102c40d3be9ceebb3a8f04f9773216289bafc23 |
| ISSN | 0263-5747 |
| IngestDate | Fri Jul 11 15:50:21 EDT 2025 Mon Jul 21 09:15:07 EDT 2025 Thu Apr 24 23:12:34 EDT 2025 Tue Jul 01 00:58:34 EDT 2025 Sun Aug 31 06:49:34 EDT 2025 Tue Jan 21 06:22:02 EST 2025 |
| IsPeerReviewed | true |
| IsScholarly | true |
| Issue | 4 |
| Keywords | Open-chain structure Dynamic parameters Identification algorithms Rigid robot Parameter estimation System identification Motion control Modeling Robotics Manipulator |
| Language | English |
| License | https://www.cambridge.org/core/terms CC BY 4.0 |
| LinkModel | OpenURL |
| MergedId | FETCHMERGED-LOGICAL-c385t-dbedeb582fe74668aa6a56f508102c40d3be9ceebb3a8f04f9773216289bafc23 |
| Notes | istex:9C3F114C55937A8D0B810A88540F8B94B944B8F8 ark:/67375/6GQ-383ZVDRT-1 PII:S026357479900140X ObjectType-Article-2 SourceType-Scholarly Journals-1 ObjectType-Feature-1 content type line 23 |
| PQID | 27148582 |
| PQPubID | 23500 |
| PageCount | 9 |
| ParticipantIDs | proquest_miscellaneous_27148582 pascalfrancis_primary_1914208 crossref_citationtrail_10_1017_S026357479900140X crossref_primary_10_1017_S026357479900140X istex_primary_ark_67375_6GQ_383ZVDRT_1 cambridge_journals_10_1017_S026357479900140X |
| ProviderPackageCode | CITATION AAYXX |
| PublicationCentury | 1900 |
| PublicationDate | 1999-07-01 |
| PublicationDateYYYYMMDD | 1999-07-01 |
| PublicationDate_xml | – month: 07 year: 1999 text: 1999-07-01 day: 01 |
| PublicationDecade | 1990 |
| PublicationPlace | Cambridge |
| PublicationPlace_xml | – name: Cambridge |
| PublicationTitle | Robotica |
| PublicationTitleAlternate | Robotica |
| PublicationYear | 1999 |
| Publisher | Cambridge University Press |
| Publisher_xml | – name: Cambridge University Press |
| SSID | ssj0013147 |
| Score | 1.7469163 |
| Snippet | In this paper a complete and systematic procedure for the identification of the
dynamic parameters of rigid robot manipulators is presented. Starting from the... In this paper a complete and systematic procedure for the identification of the dynamic parameters of rigid robot manipulators is presented. Starting from the... |
| SourceID | proquest pascalfrancis crossref istex cambridge |
| SourceType | Aggregation Database Index Database Enrichment Source Publisher |
| StartPage | 427 |
| SubjectTerms | Applied sciences Computer science; control theory; systems Control theory. Systems Dynamic parameters Exact sciences and technology Identification algorithms Modelling and identification Open-chain structure Rigid robot Robotics |
| Title | A systematic procedure for the identification of dynamic parameters of robot manipulators |
| URI | https://www.cambridge.org/core/product/identifier/S026357479900140X/type/journal_article https://api.istex.fr/ark:/67375/6GQ-383ZVDRT-1/fulltext.pdf https://www.proquest.com/docview/27148582 |
| Volume | 17 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV3db9MwELdQ-wIPfAwQZQz8gHgAgtLESdzHqCu0qOsEdFPhJbJjW5oGzdRkEuKv5-w4TrrC-HiJKjdxKt_Pvrve3e8Qep6HoLiVUB6P_cQj4NV6nFLhJQKsA54INfJ1ofDRIp6ekPeraNV2RTXVJRV_k__4ZV3J_0gVxkCuukr2HyTrJoUB-AzyhStIGK5_JeO0S8RsVJHQ8YAmc_BM2FQgZxaKuv_8K034_U0nwphEjk3Bi0rnsZ6ZZl6FDfA42m74tpPRky6Wx4vJfD4zf6m7GEY6Hqen6XyylS08ns5gfDo7bivJhC25G7ls1Or3xWPdBJHS8LeGXpTU5JnuYE06JyOpKQCskiU1R8nO-W1Jn_R0ejZQldoDXLXKqgnQX9FhLrNQ09UFuvi7H4Df4PdQPz08mn9qA0tD03PO_d4m0G1YxK-8tUu3sWW29PUO_K7TaFkJO0nVLVB2tLkxUZZ30W3rW-C0Bso9dEOu99Ad62dge4qXe-hWh4TyPvqc4hZF2KEIA4owoAhvowgXClsU4RZFetSgCHdR9ACdvJ0sx1PPNtzw8pBGlSe4FJJHNFAyIXFMGYtZFCuw4cEMzYkvQi5HYFVxHjKqfKLAeQiDYQxOO2cqD8KHqLcu1vIRwqNAgkqnvog4I0RGNI8Z6A7F_EQRxvwBeu3WNrNbqszqlMMk2xHFAPnN8me5Ja_XPVS-XvfIS_fIRc3cct3NL4xM3Z1sc65THpMoi999yEIafjk9_LjMhgN0sCX0duoaeAP0rAFBBge1jr6xtSwuyyxIhoTC2j7-wwz76Ga7CZ-gXrW5lAdg-Fb8qQXzT9Kbqwk |
| linkProvider | EBSCOhost |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=A+systematic+procedure+for+the+identification+of+dynamic+parameters+of+robot+manipulators&rft.jtitle=Robotica&rft.au=ANTONELLI%2C+G&rft.au=CACCAVALE%2C+F&rft.au=CHIACCHIO%2C+P&rft.date=1999-07-01&rft.pub=Cambridge+University+Press&rft.issn=0263-5747&rft.volume=17&rft.spage=427&rft.epage=435&rft_id=info:doi/10.1017%2FS026357479900140X&rft.externalDBID=n%2Fa&rft.externalDocID=1914208 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0263-5747&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0263-5747&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0263-5747&client=summon |