Terminal-link parameter estimation of robotic manipulators

The authors present a manipulator terminal-link parameter estimation method. The estimation equations are linear in the unknown terminal-link parameters. These unknown parameters are estimated using an instrument variable method (IVM). It is verified theoretically and experimentally that the IVM asymptotically yields consistent estimates. The number of operations required to estimate the terminal-link parameters of a manipulator having six degrees of freedom is about 1800 multiplications and 1500 additions using the recursive IVM at k=5, where k is the sampling number