REAL-TIME IDENTIFICATION OF ROBOT - DYNAMIC PARAMETERS USING PARALLEL-PROCESSING .1. THEORY

被引：1
|
作者：
TEMELTAS, H
ASHER, GM
机构：
[1] Univ of Nottingham, Nottingham
来源：
IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS | 1995年 / 142卷 / 04期
关键词：
PARALLEL PROCESSING; PARAMETER ESTIMATION; ROBOT DYNAMICS; ROBOTICS;
D O I：
10.1049/ip-cta:19951971
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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. A companion paper will verify the performance of the estimator as part of a real-time control structure.
引用
收藏
页码：359 / 368
页数：10
相关论文
共 50 条
  • [1] REAL-TIME IDENTIFICATION OF ROBOT - DYNAMIC PARAMETERS USING PARALLEL-PROCESSING .2. IMPLEMENTATION AND TESTING
    TEMELTAS, H
    ASHER, GM
    IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS, 1995, 142 (04): : 369 - 377
  • [2] PARALLEL-PROCESSING IN REAL-TIME VIDEO PROCESSING
    SMITH, RJ
    ELECTRONIC PRODUCT DESIGN, 1995, 16 (03): : 69 - 72
  • [3] PARALLEL-PROCESSING IN EMBEDDED REAL-TIME SYSTEMS
    LAWSON, HW
    MICROPROCESSING AND MICROPROGRAMMING, 1994, 40 (2-3): : 83 - 90
  • [4] Real time identification of robot dynamic parameters using parallel processing Part 2: implementation and testing
    Univ of Nottingham, Nottingham, United Kingdom
    IEE Proc Control Theory Appl, 4 (369-377):
  • [5] REAL-TIME PARALLEL-PROCESSING IMPLEMENTATION FOR WORD RECOGNITION USING MLP AND HMM
    ARRIOLA, Y
    CARRASCO, RA
    MICROPROCESSORS AND MICROSYSTEMS, 1993, 17 (10) : 611 - 626
  • [6] A real-time parallel-processing imaging system for radio astronomy
    Willis, AG
    Lightfoot, JF
    Hovey, GJ
    Dewdney, PE
    HIGH PERFORMANCE COMPUTING SYSTEMS AND APPLICATIONS, 2003, 727 : 285 - 297
  • [7] EXTREMAL SCHEDULING OF PARALLEL-PROCESSING WITH AND WITHOUT REAL-TIME CONSTRAINTS
    BACCELLI, F
    LIU, Z
    TOWSLEY, D
    JOURNAL OF THE ACM, 1993, 40 (05) : 1209 - 1237
  • [8] PARALLEL PROCESSING FOR REAL-TIME DYNAMIC SYSTEM SIMULATION
    HWANG, RS
    BAE, DS
    KUHL, JG
    HAUG, EJ
    JOURNAL OF MECHANICAL DESIGN, 1990, 112 (04) : 520 - 528
  • [9] Kinematic and dynamic modelling for real-time control of Tau parallel robot
    Zhu, ZQ
    Li, JS
    Gan, ZX
    Zhang, H
    MECHANISM AND MACHINE THEORY, 2005, 40 (09) : 1051 - 1067
  • [10] Simplified Dynamic Model for Real-time Control of the Delta Parallel Robot
    Du, Jinzhao
    Lou, Yunjiang
    2016 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (ICIA), 2016, : 1647 - 1652
12345