By Topic

Development of a measurement robot for identifying all inertia parameters of a rigid body in a single experiment

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Hahn, H. ; Lab. of Control Eng. & Syst. Dynamics, Kassel Univ., Germany ; Niebergall, M.

Standard experiments for identifying inertia parameters of a rigid body only provide a subset of its ten inertia parameters. All of these procedures only use a subset of the information included in the equations of motion of a rigid test body. This application paper discusses the construction and functioning of a laboratory setup (inertia measurement robot) that simultaneously estimates the ten inertia parameters of a rigid body using the complete information hidden in the nonlinear model equations of the test body. The measurement robot has been carefully designed to keep disturbances of the estimation process small. A key construction means to exclude disturbance forces and torques from the measurement chain is to attach a test body to the robot by means of a force-moment sensor. The task has been solved in several steps: mathematical modeling of the spatial equations of motion of a rigid body, representation of the model equations in a form suitable for experimental identification of the ten inertia parameters and for inverse computer simulation of the test body, special design of the measurement robot, experimental analysis, corrections and accuracy test of the force-moment sensor, laboratory experiments for providing test data, and estimation of the inertia parameters. The ten inertia parameters of rigid bodies obtained by the above approach are sufficiently accurate to be used in various applications of industrial practice

Published in:

Control Systems Technology, IEEE Transactions on  (Volume:9 ,  Issue: 2 )