Name
Title | ||
|---|---|---|
Robot excitation trajectories for dynamic parameter estimation using optimized B-splines |
Abstract | ||
|---|---|---|
In this paper we adressed the problem of finding exciting trajectories for the identification of manipulator link inertia parameters. This can be formulated as a constraint nonlinear optimization problem. The new approach in the presented method is the parameterization of the trajectories with optimized B-splines. Experiments are carried out on a 7 joint Light-Weight robot with torque sensoring in each joint. Thus, unmodeled joint friction and noisy motor current measurements must not be taken into account. The estimated dynamic model is verified on a different validation trajectory. The results show a clear improvement of the estimated dynamic model compared to a CAD-valued model. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/ICRA.2012.6225279 | Robotics and Automation |
Keywords | Field | DocType |
constraint theory,industrial manipulators,manipulator dynamics,nonlinear programming,parameter estimation,splines (mathematics),trajectory control,B-spline,constraint nonlinear optimization,dynamic parameter estimation,manipulator link inertia,robot excitation trajectory,torque sensor,trajectory parameterization | Spline (mathematics),Torque,Torque sensor,Control theory,Nonlinear programming,Control engineering,Inertia,Estimation theory,Robot,Trajectory,Mathematics | Conference |
Volume | Issue | ISSN |
2012 | 1 | 1050-4729 E-ISBN : 978-1-4673-1404-6 |
ISBN | Citations | PageRank |
978-1-4673-1404-6 | 14 | 0.74 |
References | Authors | |
8 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Wolfgang Rackl | 1 | 14 | 1.08 |
| Roberto Lampariello | 2 | 79 | 9.97 |
| gerd hirzinger | 3 | 5185 | 617.40 |