Identification

Abdullah Aamir Hayat; Shraddha Chaudhary; Riby Abraham Boby; Arun Dayal Udai; Sumantra Dutta Roy; Subir Kumar Saha; Santanu Chaudhury

doi:10.1007/978-981-16-6990-3_4

Identification

Abdullah Aamir Hayat, Shraddha Chaudhary, Riby Abraham Boby, Arun Dayal Udai, Sumantra Dutta Roy, Subir Kumar Saha, Santanu Chaudhury

Research output: Chapter in Book/Report/Conference proceeding › Chapter

Abstract

The robotic system considered in this monograph is treated as dynamic of serial manipulator. The parameters defining the dynamics are dependent on both the kinematic parameter namely the DH parameters and dynamic parameters, namely, mass, moment of inertia and inertia. Estimation of these parameters which are important for the control and simulation is the focus of this chapter. The inverse dynamic modeling using the concept of the Decouple Natural Orthogonal Matrices (DeNOC) matrices were adopted for the identification of base inertial parameters. Important aspects like kinematic parameter, kinematic chain identification, modeling, joint friction, trajectory, identifiability of the robot parameters are discussed.

Original language	English
Title of host publication	Studies in Systems, Decision and Control
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	75-113
Number of pages	39
DOIs	https://doi.org/10.1007/978-981-16-6990-3_4
Publication status	Published - 2022
Externally published	Yes

Publication series

Name	Studies in Systems, Decision and Control
Volume	404
ISSN (Print)	2198-4182
ISSN (Electronic)	2198-4190

ASJC Scopus subject areas

Computer Science (miscellaneous)
Control and Systems Engineering
Automotive Engineering
Social Sciences (miscellaneous)
Economics, Econometrics and Finance (miscellaneous)
Control and Optimization
Decision Sciences (miscellaneous)

Access to Document

10.1007/978-981-16-6990-3_4

Cite this

@inbook{ce45eec6becb420f840fff3b4290e01f,

title = "Identification",

abstract = "The robotic system considered in this monograph is treated as dynamic of serial manipulator. The parameters defining the dynamics are dependent on both the kinematic parameter namely the DH parameters and dynamic parameters, namely, mass, moment of inertia and inertia. Estimation of these parameters which are important for the control and simulation is the focus of this chapter. The inverse dynamic modeling using the concept of the Decouple Natural Orthogonal Matrices (DeNOC) matrices were adopted for the identification of base inertial parameters. Important aspects like kinematic parameter, kinematic chain identification, modeling, joint friction, trajectory, identifiability of the robot parameters are discussed.",

author = "Hayat, {Abdullah Aamir} and Shraddha Chaudhary and Boby, {Riby Abraham} and Udai, {Arun Dayal} and {Dutta Roy}, Sumantra and Saha, {Subir Kumar} and Santanu Chaudhury",

note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.",

year = "2022",

doi = "10.1007/978-981-16-6990-3_4",

language = "English",

series = "Studies in Systems, Decision and Control",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "75--113",

booktitle = "Studies in Systems, Decision and Control",

}

TY - CHAP

T1 - Identification

AU - Hayat, Abdullah Aamir

AU - Chaudhary, Shraddha

AU - Boby, Riby Abraham

AU - Udai, Arun Dayal

AU - Dutta Roy, Sumantra

AU - Saha, Subir Kumar

AU - Chaudhury, Santanu

PY - 2022

Y1 - 2022

N2 - The robotic system considered in this monograph is treated as dynamic of serial manipulator. The parameters defining the dynamics are dependent on both the kinematic parameter namely the DH parameters and dynamic parameters, namely, mass, moment of inertia and inertia. Estimation of these parameters which are important for the control and simulation is the focus of this chapter. The inverse dynamic modeling using the concept of the Decouple Natural Orthogonal Matrices (DeNOC) matrices were adopted for the identification of base inertial parameters. Important aspects like kinematic parameter, kinematic chain identification, modeling, joint friction, trajectory, identifiability of the robot parameters are discussed.

AB - The robotic system considered in this monograph is treated as dynamic of serial manipulator. The parameters defining the dynamics are dependent on both the kinematic parameter namely the DH parameters and dynamic parameters, namely, mass, moment of inertia and inertia. Estimation of these parameters which are important for the control and simulation is the focus of this chapter. The inverse dynamic modeling using the concept of the Decouple Natural Orthogonal Matrices (DeNOC) matrices were adopted for the identification of base inertial parameters. Important aspects like kinematic parameter, kinematic chain identification, modeling, joint friction, trajectory, identifiability of the robot parameters are discussed.

UR - http://www.scopus.com/inward/record.url?scp=85127177182&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85127177182&partnerID=8YFLogxK

U2 - 10.1007/978-981-16-6990-3_4

DO - 10.1007/978-981-16-6990-3_4

M3 - Chapter

AN - SCOPUS:85127177182

T3 - Studies in Systems, Decision and Control

SP - 75

EP - 113

BT - Studies in Systems, Decision and Control

PB - Springer Science and Business Media Deutschland GmbH

ER -

Identification

Abstract

Publication series

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this