Any articulated system of rigid bodies defines a Statically Equivalent Serial Chain (SESC). The SESC is a virtual chain that terminates at the center of mass (CoM) of the original system of bodies. A SESC may be generated experimentally without knowing the mass, CoM, or length of each link in the system given that its joint angles and overall CoM may be measured. This paper presents three developments toward recognizing the SESC as a practical modeling technique. Two of the three developments improve utilizing the technique in practical applications where the arrangement of the joints impacts the derivation of the SESC. The final development provides insight into the number of poses needed to create a usable SESC in the presence of data collection errors. First, modifications to a matrix necessary in computing the SESC are proposed. Second, the problem of generating a SESC experimentally when the system of bodies includes a mass fixed in the ground frame are presented and a remedy is proposed for humanoid-like systems. Third, an investigation of the error of the experimental SESC versus the number of data readings collected in the presence of errors in joint readings and CoM data is conducted. By conducting the method on three different systems with various levels of data error, a general form of the function for estimating the error of the experimental SESC is proposed.
Skip Nav Destination
ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 17–20, 2014
Buffalo, New York, USA
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-4637-7
PROCEEDINGS PAPER
Improving Techniques in Statically Equivalent Serial Chain Modeling for Center of Mass Estimation
Andrew P. Murray,
Andrew P. Murray
University of Dayton, Dayton, OH
Search for other works by this author on:
David H. Myszka
David H. Myszka
University of Dayton, Dayton, OH
Search for other works by this author on:
Bingjue Li
University of Dayton, Dayton, OH
Andrew P. Murray
University of Dayton, Dayton, OH
David H. Myszka
University of Dayton, Dayton, OH
Paper No:
DETC2014-34286, V05BT08A071; 11 pages
Published Online:
January 13, 2015
Citation
Li, B, Murray, AP, & Myszka, DH. "Improving Techniques in Statically Equivalent Serial Chain Modeling for Center of Mass Estimation." Proceedings of the ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 5B: 38th Mechanisms and Robotics Conference. Buffalo, New York, USA. August 17–20, 2014. V05BT08A071. ASME. https://doi.org/10.1115/DETC2014-34286
Download citation file:
14
Views
Related Proceedings Papers
Related Articles
Improving Techniques in Statically Equivalent Serial Chain Modeling for Center of Mass Estimation
J. Mechanisms Robotics (February,2015)
Dynamic Parameter Identification of Subject-Specific Body Segment Parameters Using Robotics Formalism: Case Study Head Complex
J Biomech Eng (May,2016)
Serial Metamorphic Manipulator Dynamics Formulation Implementing Screw Theory Tools
Letters Dyn. Sys. Control (October,2024)
Related Chapters
The Human Factor in Network System Survivability (PSAM-0090)
Proceedings of the Eighth International Conference on Probabilistic Safety Assessment & Management (PSAM)
A Study on the Application of the Vehicle's Intelligent Weighing System
International Conference on Information Technology and Computer Science, 3rd (ITCS 2011)
Strategic Academic Mangment System
International Conference on Software Technology and Engineering, 3rd (ICSTE 2011)