DocumentCode
2040455
Title
Comparison of weighted least squares and extended Kalman filtering methods for dynamic identification of robots
Author
Poignet, Ph. ; Gautier, M.
Author_Institution
Lab. de Vision et Robotique, IUT de Bourges, France
Volume
4
fYear
2000
fDate
2000
Firstpage
3622
Abstract
This paper presents a comparison of two methods for robot dynamic identification which include the weighted least squares estimation and the extended Kalman filtering. Comparative experimental results and discussion are presented for a SCARA robot
Keywords
Kalman filters; least squares approximations; parameter estimation; robot dynamics; SCARA robot; extended Kalman filtering; identification; parameter estimation; robot dynamic; weighted least squares; Filtering algorithms; Inverse problems; Kalman filters; Least squares approximation; Least squares methods; Measurement standards; Orbital robotics; Parameter estimation; Position measurement; Robot kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.845296
Filename
845296
Link To Document