Research on dynamic parameter identification of space hyper-redundant manipulators using iterative WLS-TCS algorithm

Research on dynamic parameter identification of space hyper-redundant manipulators using iterative WLS-TCS algorithm

ObjectiveIn the dynamic modeling of space hyper-redundant manipulators, the complicated structure, many degrees of freedom and weak rigidity cause the dynamic coupling problems, and it is difficult to obtain an accurate dynamic model. An iterative WLS-TCS algorithm was proposed to identify the groun...

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Bibliographic Details
Main Authors: ZHANG Wenjun, LI Yi, ZHOU Yufei, ZHANG Haohao, ZHU Mingchao, TANG Bo
Format: Article
Language:zho
Published: Editorial Office of Journal of Mechanical Transmission 2025-06-01
Series:Jixie chuandong
Subjects:
Hyper-redundant manipulator
Dynamic model
Iterative WLS-TCS algorithm
Excitation trajectory
Parameter identification
Online Access:http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2025.06.001
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http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2025.06.001

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