Geodesic
An efficient data acquisition methodology for inverse dynamics model learning of manipulator based on analytical method. II
Čelâbinskij fiziko-matematičeskij žurnal, Tome 8 (2023) no. 1, pp. 146-151

Voir la notice de l'article provenant de la source Math-Net.Ru

We consider a parametric physical model of a manipulator obtained from the rigid body dynamics using the analytical method. Our framework consists of the Denavit — Hartenberg method for the generation of manipulator workspace, the cubic polynomial method for the trajectory generation between two points, the Levenberg — Marquardt method for finding the required joint positions to reach the goal points and the Newton — Euler method for finding the required torque to execute the desired trajectory. The received datasets are validated by the results of simulation of kinematic and dynamic modeling of the tested manipulator.
Keywords: manipulator, model learning, Levenberg — Marquardt method, Newton — Euler method. 
@article{CHFMJ_2023_8_1_a13,
     author = {R. Tu},
     title = {An efficient data acquisition methodology for inverse dynamics model learning of manipulator based on analytical method. {II}},
     journal = {\v{C}el\^abinskij fiziko-matemati\v{c}eskij \v{z}urnal},
     pages = {146--151},
     publisher = {mathdoc},
     volume = {8},
     number = {1},
     year = {2023},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/CHFMJ_2023_8_1_a13/}
}
TY  - JOUR
AU  - R. Tu
TI  - An efficient data acquisition methodology for inverse dynamics model learning of manipulator based on analytical method. II
JO  - Čelâbinskij fiziko-matematičeskij žurnal
PY  - 2023
SP  - 146
EP  - 151
VL  - 8
IS  - 1
PB  - mathdoc
UR  - http://geodesic.mathdoc.fr/item/CHFMJ_2023_8_1_a13/
LA  - ru
ID  - CHFMJ_2023_8_1_a13
ER  - 
%0 Journal Article
%A R. Tu
%T An efficient data acquisition methodology for inverse dynamics model learning of manipulator based on analytical method. II
%J Čelâbinskij fiziko-matematičeskij žurnal
%D 2023
%P 146-151
%V 8
%N 1
%I mathdoc
%U http://geodesic.mathdoc.fr/item/CHFMJ_2023_8_1_a13/
%G ru
%F CHFMJ_2023_8_1_a13
R. Tu. An efficient data acquisition methodology for inverse dynamics model learning of manipulator based on analytical method. II. Čelâbinskij fiziko-matematičeskij žurnal, Tome 8 (2023) no. 1, pp. 146-151. http://geodesic.mathdoc.fr/item/CHFMJ_2023_8_1_a13/