Combining internal and external robot models to improve model parameter estimation

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2001, Pages 2846-2851

  Verdonck, W ^a   Swevers, J ^a   Chenut, X ^b   Samin, J C ^b  

^a UNIVERSITY OF LEUVEN   (Belgium)

^b UNIVERSITÉ CATHOLIQUE DE LOUVAIN   (Belgium)

Author keywords

[No Author keywords available]

Indexed keywords

ROBOTIC IDENTIFICATION TECHNIQUES;

ALGORITHMS; COMPUTER SIMULATION; FORCE CONTROL; MECHATRONICS; MICROACTUATORS; PARAMETER ESTIMATION; TORQUE CONTROL;

INDUSTRIAL ROBOTS;

EID: 0034861431     PISSN: 10504729     EISSN: None     Source Type: Journal    
DOI: 10.1109/ROBOT.2001.933053     Document Type: Article

References (10)

1. Combining internal and external robot models for improved model parameter estimation
2. Minimal dynamic characterization of tree-like multibody systems
3. Identification of robot dynamics
4. Exciting trajectories for the identification of base inertial parameters of robots
5. Linearity of multibody systems with respect to barycentric parameters: Dynamic and identification models obtained by symbolic generation
6. Modelling and identification of dynamic parameters of robot manipulators
7. Experimental robot identification using optimized periodic trajectories
8. Optimal robot excitation and identification
9. An environment for developing and optimising compliant robot motion tasks