0
RESEARCH PAPERS

Identifiability of Lagrangian Systems With Application to Robot Manipulators

[+] Author and Article Information
Qing-Guo Wang

Institute for Fluid Power Transmission and Control, Zhejiang University, Hangzhou, People’s Republic of China

J. Dyn. Sys., Meas., Control 113(2), 289-294 (Jun 01, 1991) (6 pages) doi:10.1115/1.2896377 History: Received June 01, 1988; Revised January 01, 1990; Online March 17, 2008

Abstract

The deterministic parameter identifiability of mechanical linear and nonlinear dynamical systems is considered via linear parameterization of system Lagrangians and necessary and sufficient conditions are established on the identifiability for linear parameters. The identifiability condition results in a new concept, the irreducible Lagrangian representation, and it is introduced to characterize a system Lagrangian with the minimal number of identifiable parameters. A linear parameterization of the Lagrangians for n-degree-of-freedom robot manipulators with rotary joints is presented and, with the help of kinematic analysis, the irreducible representations are further obtained for the PUMA 560 and planar manipulators.

Copyright © 1991 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In