Paper Info
Title
Categorization of parameters in the dynamic robot model
Abstract
The author addresses the problem of generating persistently exciting trajectories for parameter estimation. To achieve this, he proposes an algorithm that categorizes the dynamics parameters of a manipulator into three classes: uniquely identifiable, identifiable in linear combinations only, and unidentifiable. Since the proposed algorithm categorizes the parameters only on the basis of the kinematic configuration of the manipulator, it makes it possible to determine if a chosen trajectory (for estimation) is persistently exciting. The categorization procedure also helps in making the estimation procedure more robust. Based on the proposed algorithm, the parameters of the CMU DD (Carnegie-Mellon University Direct-Drive) Arm II were categorized
Year
DOI
Venue
1989
10.1109/70.34762
Robotics and Automation, IEEE Transactions  
Keywords
Field
DocType
dynamics,kinematics,parameter estimation,robots,CMU DD Arm II,Carnegie-Mellon University Direct-Drive Arm II,dynamic robot model,kinematic configuration,linear combinations,parameter estimation,persistently exciting trajectories,unidentifiable,uniquely identifiable
Linear combination,Categorization,Kinematics,Control theory,Manipulator,Control engineering,Industrial robot,Estimation theory,Robot,Mathematics,Trajectory
Journal
Volume
Issue
ISSN
5
3
1042-296X
Citations 
PageRank 
References 
22
2.87
6
Authors
1
Name
Order
Citations
PageRank
Khosla, P.K.1931123.84