Parameter Estimation for Excavator Arm Using Generalized Newton Method

IEEE Transactions on Robotics

Volumn 20, Issue 4, 2004, Pages 762-767

  Zweiri, Y H ^a   Seneviratne, L D ^a   Althoefer, Kaspar ^a  

^a KING'S COLLEGE LONDON   (United Kingdom)

Author keywords

Excavator arm dynamics; full scale field exneriment; generalized Newton method (GNM); Parameter estimation

Indexed keywords

ACTUATORS; CONSTRAINT THEORY; DEGREES OF FREEDOM (MECHANICS); EQUATIONS OF MOTION; EXCAVATORS; FRICTION; LEAST SQUARES APPROXIMATIONS; MATHEMATICAL MODELS; PARAMETER ESTIMATION;

EXCAVATOR ARM; GENERALIZED NEWTON METHOD; HOLONOMIC CONSTRAINTS;

MANIPULATORS;

EID: 4344675813     PISSN: 15523098     EISSN: 19410468     Source Type: Journal    
DOI: 10.1109/TRO.2004.829476     Document Type: Article

References (16)

1. D. Ma and J. M. Hollerbach,“Identifying mass parameters for gravity compensation and automatic torque sensor calibration,” in Proc. IEEE Int. Conf. Robotics and Automation, Minneapolis, MN, 1996, pp. 661-666.
2. S. Tafazoli, P. D. Lawrence, S. E. Salcudean, D. Chan, S. Bachmann, and C. W. de Silva,“Parameter estimation and friction analysis for a mini excavator,” in Proc. IEEE Int. Conf. Robotics and Automation, Min neapolis, MN, 1996, pp. 329-334.
3. K. Yoshida, N. Ikeda, and H. Mayeda,“Experimental study of the identification methods for an industrial robot manipulator,” in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Raleigh, NC, 1992, pp. 263-270.
4. M. M. Olsen and H. G. Petersen,“A new method for estimating parameters of a dynamic robot model,” IEEE Trans. Robot. Automat., vol. 17, pp. 95-100, Feb. 2001.
5. M. Gautier and W. Khalil,“Direct calculation of minimum set of inertial parameters of serial robots,” IEEE Trans. Robot. Automat., vol. 6, pp. 368-373, June 1990.
6. W. Khalil and F. Bennis,“Comments on direct calculation of minimum set of inertial parameters of serial robots,” IEEE Trans. Robot. Automat., vol. 10, pp. 78-79, Feb. 1994.
7. H. Hahn and M. Niebergall,“Development of a measurement robot for identifying all inertia parameters of a rigid body in a single experiment,” IEEE Trans. Contr. Syst. Technol., vol. 9, pp. 416-423, Apr. 2001.
8. M. Grotjahn, M. Daemi, and B. Heimann,“Friction and rigid body identification of robot dynamics,” Int. J. Solids, Structures, vol. 38, pp. 1889-1902, 2001.
9. W. Verdonck, J. Swevers, and J.-C. Samin,“Experimental robot identification: Advantages of combining internal and external measurements and of using periodic excitation,” ASME J. Dynam. Syst., Meas., Contr., vol. 123, pp. 630-636, 2001.
10. M. Khoshzaban, M. F. Sassani, and P. D. Lawrence,“Dynamic calibration of hydraulic mobile manipulators,” in Proc. 1st World Automation Congr., Maui, HI, 1994, pp. 255-262.
11. S. Tafazoli, P. D. Lawrence, and S. E. Salcudean,“Identification of in ertial and friction parameters for excavator arms,” IEEE Trans. Robot. Automat., vol. 15, pp. 966-971, Oct. 1999.
12. H. Mayeda, H. K. Yoshida, and K. Osuka,“Base parameters of manipulator dynamic models,” IEEE Trans. Robot. Automat., vol. 6, pp. 312-321, Apr. 1990.
13. Y. Levin and A. Ben-Israel,“A Newton method for systems of m equations in n variables,” Nonlinear Anal., vol. 47, pp. 1961-1971, 2001.
14. Y. H. Zweiri, L. D. Seneviratne, and K. A. Althoefer,“Modeling of unmanned ground vehicles with on-board closed-chain manipulator, for increased autonomy,” in Proc. 9th IEEE Conf. Mechatronics and Ma chine Vision in Practice, Thailand, Sept. 2002, pp. 132-141.
15. M. Z. Nashed and X. Chen,“Convergence of Newton-like methods for singular operator equations using outer inverse,” Numer. Math., vol. 66, pp. 235-257, 1993.
16. Y. H. Zweiri, L. D. Seneviratne, and K. A. Althoefer,“Modeling and control of an unmanned excavator vehicle,” Proc. Inst. Mechan. Eng. Part I, J. Syst. Contr. Eng., vol. 217, pp. 259-274, 2003.