• DocumentCode
    898335
  • Title

    Real time identification of robot dynamic parameters using parallel processing. 1. Theory

  • Author

    Temeltas, H. ; Asher, G.M.

  • Author_Institution
    Dept. of Electr. & Electron. Eng., Nottingham Univ., UK
  • Volume
    142
  • Issue
    4
  • fYear
    1995
  • fDate
    7/1/1995 12:00:00 AM
  • Firstpage
    359
  • Lastpage
    368
  • Abstract
    The paper develops the mathematical foundations for a parallel recursive estimator for the identification of dynamic parameters for a general n-link high performance robot. The estimation is structured so that one estimator is assigned to each link. Only composite parameters used for calculating joint torques (the inverse dynamic equations) are identified. The parallel structure makes possible the real-time estimation of dynamic parameters, including load and frictions, using only medium-speed processors
  • Keywords
    least squares approximations; parallel processing; parameter estimation; real-time systems; robot dynamics; composite parameters; dynamic parameters; identification; inverse dynamic equations; joint torques; parallel processing; parallel recursive estimator; real-time parameter estimation; robot;
  • fLanguage
    English
  • Journal_Title
    Control Theory and Applications, IEE Proceedings -
  • Publisher
    iet
  • ISSN
    1350-2379
  • Type

    jour

  • DOI
    10.1049/ip-cta:19951971
  • Filename
    404172
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=898335