A new closed-loop output error method for parameter identification of robot dynamics

IEEE Transactions on Control Systems Technology

Volumn 21, Issue 2, 2013, Pages 428-444

  Gautier, Maxime ^a   Janot, Alexandre ^b   Vandanjon, Pierre Olivier ^c  

^a UNIVERSITÉ DE NANTES   (France)

^b ONERA   (France)

^c IM EASE   (France)

Author keywords

Closed loop output error; direct dynamics; dynamic parameters; identification; inverse dynamics; least squares methods; robot dynamics

Indexed keywords

DIRECT DYNAMICS; DYNAMIC PARAMETERS; INVERSE DYNAMICS; LEAST SQUARES METHODS; OUTPUT ERRORS; ROBOT DYNAMICS;

DYNAMIC MODELS; IDENTIFICATION (CONTROL SYSTEMS); INVERSE PROBLEMS;

ROBOTS;

EID: 84874645720     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2012.2185697     Document Type: Article

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