IEEE - Institute of Electrical and Electronics Engineers, Inc. - Identification of Unknown Payload and Environmental Parameters for Robot Compliant Motion

1992 American Control Conference

Author(s): Shih-Tin Lin ; K. Harold Yae
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 June 1992
Conference Location: Chicago, IL, USA, USA
Conference Date: 24 June 1992
Page(s): 2,952 - 2,956
ISBN (Paper): 0-7803-0210-9
DOI: 10.23919/ACC.1992.4792687
Regular:

When compliant motion control is applied with the computed-torque methed, an accurate dynamic model of the manipulator and environment is required. This paper presents a method for estimating the... View More

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