ISSN:
1573-0409
Keywords:
Parameter identification
;
estimation techniques
;
robot geometrical parameters
;
Jacobian matrix
Source:
Springer Online Journal Archives 1860-2000
Topics:
Computer Science
,
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
Abstract The computation of the geometrical parameters identification model of a robot arm leads to an intrinsic extended Jacobian matrix. This matrix is often singular and its manual computation is tedious and may lead to error. A computer assisted procedure is developed to compute this matrix symbolically and to check its singularity. The program GPIM is developed in Pascal and works on PC's for this purpose. Jacobian singularity is checked using its symbolic expressions with the aid of a proposed table for robot arm parameters to obtain a minimum set of identified parameters. This program can be used for simple chain robot arms having revolute (R) and/or prismatic (P) joints including the case of consecutive near parallel axes. TH8 robot arm of type RPPRRR having two pairs of consecutive near parallel axes is studied to show the program efficiency and how singularity is eliminated.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1007/BF00449701
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