DocumentCode
3273262
Title
A learning scheme for the parameter identification of robot dynamics
Author
Bao, Ping-An ; Jiang, Ping ; Chen, Hui-tang
Author_Institution
Dept. of Electr. Eng., Tongji Univ., Shanghai, China
fYear
1996
fDate
2-6 Dec 1996
Firstpage
651
Lastpage
655
Abstract
In this paper, a new identification method, called learning identification algorithm, of the model parameters of robot dynamics is proposed. This method has the following features: it does not require the exciting trajectory, and the measurements of joint accelerations and velocities. The method is demonstrated experimentally by estimating the dynamic parameters of a shaped glass cutting robot
Keywords
learning (artificial intelligence); manipulator dynamics; parameter estimation; learning scheme; parameter identification; robot dynamics; shaped glass cutting robot; Acceleration; Erbium; Glass; Manipulator dynamics; Motion estimation; Parameter estimation; Robot control; Robust stability; Torque control; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Technology, 1996. (ICIT '96), Proceedings of The IEEE International Conference on
Conference_Location
Shanghai
Print_ISBN
0-7803-3104-4
Type
conf
DOI
10.1109/ICIT.1996.601673
Filename
601673
Link To Document