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
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;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.845296
