DocumentCode
3471097
Title
Fast online impedance estimation for robot control
Author
Wang, Zheng ; Peer, Angelika ; Buss, Martin
Author_Institution
Inst. of Autom. Control Eng., Tech. Univ. Munchen, Munich
fYear
2009
fDate
14-17 April 2009
Firstpage
1
Lastpage
6
Abstract
In this paper a fast online estimation method of impedance parameters is proposed based on the forgetting factor recursive least squares identification method. The performance of the proposed method is accessed by simulation and robotic experiments. Comparing with existing methods, the proposed method shows fast tracking performance to parameter changes while achieving robustness to noise. The algorithm has been implemented to online robot control and can be generalized to meet other needs.
Keywords
least squares approximations; manipulators; recursive functions; robust control; fast online impedance estimation; forgetting factor; recursive least square identification method; robot control; robot manipulator; robustness; Force control; Humans; Impedance; Least squares approximation; Manipulator dynamics; Noise robustness; Recursive estimation; Resonance light scattering; Robot control; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics, 2009. ICM 2009. IEEE International Conference on
Conference_Location
Malaga
Print_ISBN
978-1-4244-4194-5
Electronic_ISBN
978-1-4244-4195-2
Type
conf
DOI
10.1109/ICMECH.2009.4957217
Filename
4957217
Link To Document