A method for estimating the mass properties of a manipulator by measuring the reaction moments at its base

West, H; Papadopoulos, E; Dubowsky, S; Cheah, H

dc.contributor.author	West, H	en
dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Dubowsky, S	en
dc.contributor.author	Cheah, H	en
dc.date.accessioned	2014-03-01T02:47:52Z
dc.date.available	2014-03-01T02:47:52Z
dc.date.issued	1989	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/33396
dc.subject	Degree of Freedom	en
dc.subject	Dynamic Control	en
dc.subject	property a	en
dc.title	A method for estimating the mass properties of a manipulator by measuring the reaction moments at its base	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.1989.100193	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.1989.100193	en
heal.publicationDate	1989	en
heal.abstract	Emulating on Earth the weightlessness of a manipulator floating in space requires knowledge of the manipulator's mass properties. A method for calculating these properties by measuring the reaction forces and moments at the base of the manipulator is described. A manipulator is mounted on a six-degree-of-freedom sensor, and the reaction forces and moments at its base are measured for different	en
heal.journalName	International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.1989.100193	en