This article presents a method to determine minimum dynamics parameters of tree structure robots. The minimum dynamics parameters were defined as a minimum set of constant parameters, not containing the zero element, and which are sufficient to calculate the dynamic model of the robot. The determination of the minimum dynamics parameters contributes to reducing the computational requirements of the robot dynamic models, and it also increases the robustness of the parameter identification process. The presented method is based on the use of recursive Newton-Euler formulations and a concept, 'τi(i-th joint torque)-identifiability' which was used recently for the determination of the minimum
This paper presents ,a new computational algorithm of the model-based adaptive manipulator control, adopting the basic method proposed by Slotine and Li [4]. The manipulator regressor that is represented by an actual velocity vector and a reference velocity vector is computed explicitly by a recursive algorithm based on the Newton-Euler formulation. The proposed algorithm is more e for a manipulafor with six Or fewer joints. An presented to show the possibility of an adaptive controller having a single DSP for a robot manipulator with six degrees of freedom.
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