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
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