Title :
On parameter identification of robot manipulators
Author :
Reyes, Fernando ; Kelly, Rafael
Author_Institution :
Div. de Fisica Aplicada, CICESE, Ensenada, Mexico
Abstract :
This paper is focused on estimating the dynamic parameters of robot manipulators. A new hybrid identification scheme based on the supplied energy regression model is proposed. Experimental results on a two degrees of freedom direct-drive robot are presented
Keywords :
least squares approximations; low-pass filters; manipulator dynamics; parameter estimation; statistical analysis; direct drive robots; dynamic parameters; energy regression model; least squares method; low pass filter; manipulators; parameter identification; Acceleration; Friction; Low pass filters; Manipulator dynamics; Parameter estimation; Potential energy; Power filters; Robot control; Robustness; Vectors;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.619067
