Robust calibration and control of robotic manipulators

Author

Calafiore, Giuseppe ; Indri, Marina

Author_Institution

Dipartimento di Autom. e Inf., Politecnico di Torino, Italy

Volume

3

fYear

2000

fDate

2000

Firstpage

2003

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;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2000. Proceedings of the 2000

Conference_Location

Chicago, IL

ISSN

0743-1619

Print_ISBN

0-7803-5519-9

Type

conf

DOI

10.1109/ACC.2000.879552

Filename

879552