Cart (Loading....) | Create Account
Close category search window
 

Robust estimation of parallel robot dynamic parameters with interval analysis

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

3 Author(s)
Poignet, Ph. ; Lab. d''Informatique, de Robotique et de Microelectronique de Montpellier, Montpellier Univ., France ; Ramdani, N. ; Vivas, A.

This paper deals with the application of interval analysis for outer bounding the physical parameters of parallel robots. The robot is modeled with classical Lagrange equation which leads to an inverse dynamic model linear with respect to the parameters. Assuming the error additive on the input (motor torque), the problem is termed as a constraint propagation one and the solution is performed with a preconditioned Gauss-Seidel contractor modified in order to be used with over-determined linear systems. Experimental results are exhibited for a fully parallel robot with 4 degrees of freedom.

Published in:

Decision and Control, 2003. Proceedings. 42nd IEEE Conference on  (Volume:6 )

Date of Conference:

9-12 Dec. 2003

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.