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A SURVEY OF CURRENT INERTIA PARAMETER IDENTIFICATION METHODS

✍ Scribed by CARSTEN SCHEDLINSKI; MICHAEL LINK

Publisher
Elsevier Science
Year
2001
Tongue
English
Weight
442 KB
Volume
15
Category
Article
ISSN
0888-3270

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✦ Synopsis

The knowledge of the 10 inertia parameters mass, centre of gravity and inertia tensor (moments and products of inertia) of mechanical systems is of great interest whenever the dynamic behaviour is signi"cantly governed by these parameters. In this paper, a survey of currently available inertia parameter identi"cation methods shall be given. At "rst, the governing equations of motion will be summarised. Then a classi"cation of the identi"cation methods will be presented that is based on the general equations of motion of a rigid body and their simpli"cations with respect to several linearisation steps. In addition, the individual methods will be highlighted in detail while the requirements will be discussed and attainable accuracy limits are given where possible.

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