Identifying Moments of Inertia Parameters for Rigid-Body Manipulators

Rodrigo Jamisola, Elmer P. Dadios

Research output: Contribution to conferencePaperpeer-review


Among rigid-body dynamics parameters, the inertia is more difficult to identify or verify. In fact, some robot manufacturers provide information on masses and centers of masses, but not on inertias. This work will propose an experimental procedure in identifying inertia parameters through natural oscillation. The experiment proceeds by letting the rigid-body system achieve a linear second-order system response and its oscillation is measured. A well-defined value of the desired natural oscillation transforms the identification experiment into an optimization problem. A theorem is presented to justify the validity of the experimental approach, and experimental results are shown.

Original languageEnglish
Publication statusPublished - 2009
Event13th International Conference on Mechatronics Technology - Cebu City, Philippines
Duration: Oct 20 2009Oct 23 2009


Conference13th International Conference on Mechatronics Technology
Abbreviated titleICMT 2009
CityCebu City


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