Korbicz, Józef - red. ; Uciński, Dariusz - red.
In this paper, we discuss the issue of the optimal trajectory design for the purpose of identification of the inertial and load parameters of a robot. Two dynamical models have been introduced: differential and integral; both of them can be used to estimate the robot dynamic parameters in which they appear to be linear. ; Functions associated with the parameters are highly non-linear which in general involve joint positions, velocities and accelerations. A standard sequential least-squares technique can be used to estimate the unknown parameters. This method requires an information matrix which has to be inverted. ; For particular joint signals this matrix is singular. In this paper, we propose to optimize the condition number of this matrix in both formulations: differential and integral. This work illustrates the difficulty of maintaining persistent excitation during the experimental identification of robot and load dynamic parameters.
Zielona Góra: Uniwersytet Zielonogórski
AMCS, volume 5, number 4 (1995) ; kliknij tutaj, żeby przejść
Biblioteka Uniwersytetu Zielonogórskiego
2021-09-02
2020-09-21
101
https://zbc.uz.zgora.pl/repozytorium/publication/64283
Nazwa wydania | Data |
---|---|
Optimal trajectory design for the identification of robot and load dynamics | 2021-09-02 |
Kozłowski, Krzysztof Tchoń, Krzysztof - ed. Gosiewski, Anatol - ed.
Korbicz, Józef - red.
Korbicz, Józef - red. Uciński, Dariusz - red.
Korbicz, Józef - red. Uciński, Dariusz - red.
Korbicz, Józef - red. Uciński, Dariusz - red.
Korbicz, Józef - red. Uciński, Dariusz - red.
Korbicz, Józef - red. Uciński, Dariusz - red.
Korbicz, Józef - red. Uciński, Dariusz - red.