Digital Library of Zielona Góra contains 9 272 digital objects
Object
Title: Optimal trajectory design for the identification of robot and load dynamics
Contributor:
Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.
Group publication title:
Abstract:
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.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
Pages:
Source:
AMCS, volume 5, number 4 (1995) ; click here to follow the link
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Repository > Types of work > Articles
- Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (1995)
Last modified:
Jul 14, 2025
In our library since:
Sep 21, 2020
Number of object content hits:
218
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/publication/64283
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| Edition name | Date |
|---|---|
| Optimal trajectory design for the identification of robot and load dynamics | Jul 14, 2025 |
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