DocumentCode
294457
Title
On representing robot modelling errors as disturbances in joint accelerations: theory and experiments
Author
Cahill, Aidan J. ; Kieffe, Jon C. ; James, Matthew R.
Author_Institution
Australian Nat. Univ., Canberra, ACT, Australia
Volume
1
fYear
1995
fDate
13-15 Dec 1995
Firstpage
557
Abstract
In this paper we propose an approach for identifying robot modelling errors as disturbances in joint accelerations and a theory for relating such disturbances to the performance of robots under computed-torque control. We present some experimental evidence that the theory can be useful in practice
Keywords
acceleration; error analysis; identification; modelling; robot dynamics; torque control; computed-torque control; disturbances; identification; joint accelerations; least squares estimation; modelling errors; robot; torque control; Acceleration; Australia; Computer errors; Equations; Error correction; Linear systems; Predictive models; Robot control; Robot sensing systems; System performance;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location
New Orleans, LA
ISSN
0191-2216
Print_ISBN
0-7803-2685-7
Type
conf
DOI
10.1109/CDC.1995.478952
Filename
478952
Link To Document