Identification of inertial and drive gain parameters of robots
- 17 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 4, 3764-3769
- https://doi.org/10.1109/cdc.1994.411744
Abstract
This paper presents a direct simultaneous identification of inertial and drive gain parameters either with the dynamic model or with the energy model. This operation is performed using a method issued from the total least squares field. The ideas of this field allow us to clarify the links between the inertial parameters and the drive gain parameters. In particular, we show that on a trajectory, given the current reference, the joint positions, velocities and acceleration signals, all the parameters can be identified with respect to a scale parameter. It can be applied to open-loop, or graph structured rigid robot, as well as to flexible link robot. An experimental validation for a two degrees of freedom robot is presented.<>Keywords
This publication has 5 references indexed in Scilit:
- Estimating the essential parameter space of the robot manipulator dynamicsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- New criteria of exciting trajectories for robot identificationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Numerical calculation of the base inertial parameters of robotsJournal of Robotic Systems, 1991
- The Total Least Squares ProblemPublished by Society for Industrial & Applied Mathematics (SIAM) ,1991
- Minimum operations and minimum parameters of the dynamic models of tree structure robotsIEEE Journal on Robotics and Automation, 1987