| Abstract: | This paper presents a methodology whereby the payload weight of a serial manipulator can be determined from a minimum set of sensor data, i.e., joint angle and joint torque measurements. The particular manipulator geometry that is analyzed is a four degree‐of‐freedom serial chain that is commonly used in excavator systems. It was quite remarkable that a relatively simple solution was obtained for the payload weight considering that there are a total of nine unknown moments and cross moments of inertia of the payload together with the unknown location of the center of mass. Example calculations are presented. © 2003 Wiley Periodicals, Inc. |
