Title :
Robust calibration and control of robotic manipulators
Author :
Calafiore, Giuseppe ; Indri, Marina
Author_Institution :
Dipartimento di Autom. e Inf., Politecnico di Torino, Italy
Abstract :
In this paper we present a robust approach for the estimation of the inertial parameters of a robotic manipulator. This approach takes into account the uncertainty in the regression model obtained via the Newton-Euler equations of the robot, and computes an ellipsoid of confidence for the unknown parameters using semidefinite programming (SDP). The obtained information is then exploited in a robust control scheme for the manipulator. Results relative to a two-link planar manipulator are included in the paper
Keywords :
Newton method; calibration; inertial systems; manipulators; parameter estimation; robust control; statistical analysis; uncertain systems; Newton-Euler equations; SDP; inertial parameter estimation; regression model uncertainty; robotic manipulators; robust calibration; robust control; semidefinite programming; two-link planar manipulator; Calibration; Ellipsoids; Equations; Manipulators; Parameter estimation; Robot kinematics; Robust control; Robustness; Symmetric matrices; Transmission line matrix methods;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.879552
