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Identification of the Inertial Parameters of Manipulator Payloads

Title: Identification of the Inertial Parameters of Manipulator Payloads.
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Name(s): Reyes, Ryan-David, author
Department of Electrical and Computer Engineering
Type of Resource: text
Genre: Text
Issuance: serial
Date Issued: 2014
Physical Form: computer
online resource
Extent: 1 online resource
Language(s): English
Abstract/Description: Momentum based motion planning allows small and lightweight manipulators to lift loads that exceed their rated load capacity. One such planner, Sampling Based Model Predictive Optimization (SBMPO) developed at the Center for Intelligent Systems, Control, and Robotics (CISCOR), uses dynamic and kinematic models to produce trajectories that take advantage of momentum. However, the inertial parameters of the payload must be known before the trajectory can be generated. This research utilizes a method based on least squares techniques for determining the inertial parameters of a manipulator payload. It is applied specifically to a two degree of freedom manipulator. A set of exciting trajectories, i.e., trajectories that sufficiently excite the manipulator dynamics, in task space will be commanded to the system. Inverse kinematics are then used to determine the desired angle, angular velocity, and angular acceleration for the manipulator joints. Using the sampled torque, joint position, velocity, and acceleration data, the least squares technique produces an estimate of the inertial parameters of the payload. This paper focuses on determining which trajectories produce sufficient excitation so that an adequate estimate can be obtained.
Identifier: FSU_migr_uhm-0418 (IID)
Keywords: Identification Parameters Inertial Manipulator Payloads
Submitted Note: A Thesis submitted to the Department of Electrical and Computer Engineering in partial fulfillment of the requirements for the degree of Honors in the Major.
Degree Awarded: Spring Semester, 2015.
Date of Defense: August 5, 2014.
Subject(s): Computer engineering
Electrical engineering
Mechanical engineering
Persistent Link to This Record: http://purl.flvc.org/fsu/fd/FSU_migr_uhm-0418
Owner Institution: FSU
Is Part of Series: Honors Theses.

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Reyes, R. -D. (2014). Identification of the Inertial Parameters of Manipulator Payloads. Retrieved from http://purl.flvc.org/fsu/fd/FSU_migr_uhm-0418