Abstract
In this paper, we propose the identification method to realize physical consistency and computational stability. As inertial parameters of each link are represented with a finite number of mass points, the physical conditions can be approximated by linear inequalities. The evaluation function is also designed to control the exactness of identification results and the stability of computation.
This research is supported by Category S of Grant-in-Aid for Scientific Research(20220001), Japan Society for the Promotion of Science, and supported by IRT Foundation to Support Man and Aging Societyh under Special Coordination Funds for Promoting Science and Technology from MEXT.
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Ayusawa, K., Nakamura, Y. (2010). Identification of Base Parameters for Large-scale Kinematic Chains Based on Physical Consistency Approximation by Polyhedral Convex Cones. In: Parenti Castelli, V., Schiehlen, W. (eds) ROMANSY 18 Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 524. Springer, Vienna. https://doi.org/10.1007/978-3-7091-0277-0_10
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DOI: https://doi.org/10.1007/978-3-7091-0277-0_10
Publisher Name: Springer, Vienna
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