DocumentCode
1843283
Title
An efficient algorithm for the calculation of the filtered dynamic model of robots
Author
Khalil, Wisama ; Restrepo, Pedro Pablo
Author_Institution
Lab. d´´Autom., Nantes Univ., France
Volume
1
fYear
1996
fDate
22-28 Apr 1996
Firstpage
323
Abstract
This paper presents a new method for the calculation of the filtered dynamic model of robots which is used in the adaptive control of robots and in the identification of its inertial parameters. The main characteristics of the method is that no symbolic differentiation is used. The variables used in the algorithm are obtained from the transformation matrices between successive link frames. The number of operations in the general case and for some industrial robots are given
Keywords
adaptive control; filtering theory; matrix algebra; parameter estimation; robot dynamics; adaptive control; filtered dynamic model; industrial robots; inertial parameters identification; transformation matrices; Acceleration; Adaptive control; Adaptive filters; Computational complexity; Electronic mail; Equations; Mathematical model; Robotics and automation; Service robots; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location
Minneapolis, MN
ISSN
1050-4729
Print_ISBN
0-7803-2988-0
Type
conf
DOI
10.1109/ROBOT.1996.503797
Filename
503797
Link To Document