DocumentCode
3182168
Title
Bayesian estimation of inertial parameters of robots
Author
Presse, C. ; Gautier, M.
Author_Institution
Lab. d´´Autom. de Nantes, CNRS, France
fYear
1992
fDate
12-14 May 1992
Firstpage
364
Abstract
The authors present a Bayesian approach using an energy model to identify the base (identifiable) inertial parameters of a robot, given a prior statistical information (expected value and covariance matrix) about the solution vector. An application of a three-degree-of-freedom robot is simulated to show the efficiency of the method
Keywords
Bayes methods; parameter estimation; robots; Bayesian estimation; a prior statistical information; covariance matrix; expected value; inertial parameters; parameter estimation; three-degree-of-freedom robot; Acceleration; Bayesian methods; Covariance matrix; Least squares methods; Noise measurement; Parameter estimation; Position measurement; Robot kinematics; Robot sensing systems; Software packages;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location
Nice
Print_ISBN
0-8186-2720-4
Type
conf
DOI
10.1109/ROBOT.1992.220312
Filename
220312
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