Identification of Robot Dynamics: An Application of Recursive Estimation

Charles P. Neuman and Pradeep K. Khosla
Additional contact information
Charles P. Neuman: Carnegie-Mellon University, Department of Electrical and Computer Engineering, The Robotics Institute
Pradeep K. Khosla: Carnegie-Mellon University, Department of Electrical and Computer Engineering, The Robotics Institute

A chapter in Adaptive and Learning Systems, 1986, pp 175-194 from Springer

Abstract: Abstract To synthesize robust robot parameter identification algorithms, we outline the fundamental properties of the Newton-Euler (N-E) and Lagrange-Euler (L-E) formulations of robot dynamics. We transform the nonlinear (in dynamic parameters) N-E dynamic robot model into the equivalent linear (in dynamic parameters) L-E dynamic robot model. We cast the L-E torque/force error model into the series and parallel identifier structures for on-line and off-line robot parameter estimation. To illustrate our approach, we identify (in simulation) the dynamic parameters of the cylindrical prototype robot and the three degreeof-freedom positioning system of the Stanford manipulator. Our identification algorithm is directly amenable to the real-time identification of the pay-load inertial characteristics and the dynamic frictional coefficients for precise trajectory control.

Keywords: Error Model; Dynamic Parameter; Identification Algorithm; Dynamic Robot; Robot Parameter (search for similar items in EconPapers)
Date: 1986
References: Add references at CitEc
Citations:

There are no downloads for this item, see the EconPapers FAQ for hints about obtaining it.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:spr:sprchp:978-1-4757-1895-9_12

Ordering information: This item can be ordered from
http://www.springer.com/9781475718959

DOI: 10.1007/978-1-4757-1895-9_12

Access Statistics for this chapter

More chapters in Springer Books from Springer
Bibliographic data for series maintained by Sonal Shukla () and Springer Nature Abstracting and Indexing ().