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Self-calibration in robot manipulators

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2 Author(s)
Mukerjee, A. ; University of Rochester ; Ballard, D.H.

The development of fast recursive methods for computing manipulator inverse dynamics has made possible open loop control strategies. However, for these strategies to work, an accurate plant model is required. Two key components of the plant are frictional terms and link/load inertias. This paper shows how these components may be computed using force and moment sensing.

Published in:

Robotics and Automation. Proceedings. 1985 IEEE International Conference on  (Volume:2 )

Date of Conference:

Mar 1985