Base parameters that can be identified from measured values and a control scheme for planer Torque-unit manipulator

摘要

A base parameter set which is defined to be a minimum set of inertial parameters that can determine dynamic model uniquely is shown for Torque-unit Manipulator (TUM) which has been proposed as a new design concept of manipulator. The elements of the base parameter set are also the parameters that can be identified independently from motion data and input data, i.e., measured values. The base parameters play very important role for dynamic modelling of manipulators such as model based control and simulation of the manipulator motion. The base parameters are given completely in closed from of linear combinations of the link inertial parameters. Also, a control strategy for all state variables of TUM is given by using the base parameters.