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Author Atkeson, C.G. ♦ An, C.H. ♦ Hollerbach, J.M.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1985
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Force sensors ♦ Wrist ♦ Torque ♦ Force measurement ♦ Testing ♦ Equations ♦ Robot sensing systems ♦ Robot kinematics ♦ Manipulators ♦ Motion estimation
Abstract A method for estimating the mass, the center of mass, and the moments of inertia of a rigid body load during general manipulator movement is presented. The algorithm is derived from the Newton-Euler equations and incorporates measurements of the force and torque from a wrist force/torque sensor and of the arm kinematics. The identification equations are linear in the desired unknown parameters, which are estimated by least squares. We have implemented this identification procedure on a PUMA 600 robot equipped with an RTI FS-B wrist force/torque sensor, and on the MIT Serial Link Direct Drive Arm equipped with a Barry Wright Company Astek wrist force/torque sensor.
Description Author affiliation: Massachusetts Institute of Technology, Cambridge, Massachusetts (Atkeson, C.G.; An, C.H.; Hollerbach, J.M.)
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1985-12-11
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 716.85 kB
Page Count 7
Starting Page 996
Ending Page 1002


Source: IEEE Xplore Digital Library