REAL-TIME IDENTIFICATION OF ROBOT - DYNAMIC PARAMETERS USING PARALLEL-PROCESSING .2. IMPLEMENTATION AND TESTING

被引：0
|
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：
ROBOTICS; ROBOT DYNAMICS; PARAMETER ESTIMATION; PARALLEL PROCESSING;
D O I：
10.1049/ip-cta:19951972
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 implements and demonstrates a parallel recursive estimator for the realtime identification of dynamic parameters for a general n-link high performance robot, The implementation entails the use of a parallel processor platform which includes the real-time simulation of the forward dynamics of the robot. The parallel estimator is first tested for parameter convergence using PRBS test signals and then tested in a closed loop robot control environment. A case study is presented showing the real-time convergence of the dynamic parameters following the application of a payload.
引用
收藏
页码：369 / 377
页数：9
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