Identification of Dynamic Parameters of an Industrial Robot Using a Recursively-Optimized Trajectory

被引：0

作者：

Gu, Yunjin ^{[1
]}

Wang, Hyuk

Cho, Jang Ho

Lee, Doo Yong ^{[1
]}

机构：

[1] Korea Adv Inst Sci & Technol, Dept Mech Engn, Taejon 305701, South Korea

来源：

INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2010) | 2010年

关键词：

Robot dynamics; Dynamic parameter; Parameter identification; PERIODIC TRAJECTORIES; EXCITATION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Dynamic parameters of a robot affect the performance of advanced control schemes significantly. In this study experiments to identify the dynamic parameters of AT2 robot are carried out. The excitation trajectory for identification is parameterized with Fourier series. The trajectory is optimized to minimize effects of uncertainty using condition number as the index. Recursive optimization is proposed so that the trajectory is robust from selection of the initial values and better optimization result can be obtained. The dynamic parameters of AT2 robot is estimated using the optimized excitation trajectory and weighted least-square method.

引用

页码：1450 / 1455

页数：6

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