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CORR
2010
Springer

A new closed-loop output error method for parameter identification of robot dynamics

9 years 8 months ago
A new closed-loop output error method for parameter identification of robot dynamics
Off-line robot dynamic identification methods are mostly based on the use of the inverse dynamic model, which is linear with respect to the dynamic parameters. This model is sampled while the robot is tracking reference trajectories that excite the system dynamics. This allows using linear least-squares techniques to estimate the parameters. The efficiency of this method has been proved through the experimental identification of many prototypes and industrial robots. However, this method requires the joint force/torque and position measurements and the estimate of the joint velocity and acceleration, through the bandpass filtering of the joint position at high sampling rates. The proposed new method requires only the joint force/torque measurement. It is a closed-loop output error method where the usual joint position output is replaced by the joint force/torque. It is based on a closed-loop simulation of the robot using the direct dynamic model, the same structure of the control law, ...
Maxime Gautier, Alexandre Janot, Pierre-Olivier Va
Added 09 Dec 2010
Updated 09 Dec 2010
Type Journal
Year 2010
Where CORR
Authors Maxime Gautier, Alexandre Janot, Pierre-Olivier Vandanjon
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