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3D inertia transfer concept and symbolic determination of the base inertial parameters

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3D inertia transfer concept and symbolic determination of the base inertial parameters

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Ros, J.; Iriarte, X.; Mata Amela, V. (2012). 3D inertia transfer concept and symbolic determination of the base inertial parameters. Mechanism and Machine Theory. 49:284-297. doi:10.1016/j.mechmachtheory.2011.09.006

Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/112088

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Title: 3D inertia transfer concept and symbolic determination of the base inertial parameters
Author:
UPV Unit: Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials
Issued date:
Abstract:
[EN] A new and simple symbolic/geometric procedure to obtain the base inertial parameters of general mechanisms is presented. The procedure is based on: 1) the concept of low mobility of bodies with respect to the Inertial ...[+]
Subjects: Robotics , Parameter identification , Base parameters , SymbolicInertia transfer , Multipole
Copyrigths: Cerrado
Source:
Mechanism and Machine Theory. (issn: 0094-114X )
DOI: 10.1016/j.mechmachtheory.2011.09.006
Publisher:
Elsevier
Publisher version: https://doi.org/10.1016/j.mechmachtheory.2011.09.006
Thanks:
This research has been partially supported by the Spanish Government grant # DPI2010-20814-C02-01(IDEMOV) and the "Salvador de Madariaga" fellowship #PR2009-0259.
Type: Artículo

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