Abstract. This paper discusses a new experimental robot load identification method that is used in industry. The method is based on periodic robot excitation and the maximum likeli...
Jan Swevers, Walter Verdonck, Birgit Naumer, Stefa...
— 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 use...
Off-line robot dynamic identification methods are mostly based on the use of the inverse dynamic model, which is linear with respect to the dynamic parameters. This model is sample...
Maxime Gautier, Alexandre Janot, Pierre-Olivier Va...
This paper presents a novel learning feed-forward controller design approach for accurate robotics trajectory tracking. Based on the joint nonlinear dynamics characteristics, a mod...
By exploiting properties of the joint space mass-inertia matrix of flexure jointed hexapods, a new decoupling method is proposed. The new decoupling method, through a static input...