Experimental study of the identification methods for an industrial robot manipulator

IEEE International Conference on Intelligent Robots and Systems

Volumn 1, Issue , 1992, Pages 263-270

  Yoshida, K ^a   Ikeda, N ^a   Mayeda, H ^b  

^a OSAKA UNIVERSITY   (Japan)

^b RITSUMEIKAN UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

INDUSTRIAL MANIPULATORS; MANIPULATORS; ROBOT APPLICATIONS;

IDENTIFICATION METHOD; INSTRUMENTAL VARIABLE METHODS; MODEL PARAMETERS; ROBOT MANIPULATOR; SIMULATED TRAJECTORIES; SIMULTANEOUS METHODS; STEP-BY-STEP METHOD;

INTELLIGENT ROBOTS;

EID: 85013716111     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.1992.587332     Document Type: Conference Paper

References (12)

1. C. H. An, C. G. Atkeson and J. M. Hollerbach, Model-Based Control of a Robot Manipulator, The MIT Press, 1988.
2. H. Mayeda, K. Yoslsida and K. Osuka, "Base parameters of Manipulator Dynamic Model, " IEEE J. of Robotics and Asstomation, vol. 6, no. 3, pp. 312-321, 1990.
3. H. Mayeda and K. Ohashi, "Base parameters of Dynamic Models for General Open Loop Kinematic Chains, " Robotics Research 5, pp. 271-278, 1990.
4. H. Mayeda, K, Osuka and A. Kangawa, "A New Identification Method for Serial Manipulator Arms, " Proc. 9th IPAC World Congress, pp. 2429-2424, 1984.
5. F. Ozaki, H. Hashimoto, M. Maruyama and H. Mayeda, "Identification for a Direct Drive Robot "DARM-2" , " Proc. of IEEE IECON"90, 1990.
6. H. Kawasaki and K. Nishimura, "Parameter Identification of Mechanical Manipulators" (in Japanese), SICE Trans. , vol. 22, no. 1, pp. 76-83, 1986.
7. P. K. Khosla, "Real-Time Control and Identification of Direct-Drive Manipulators, " Ph. D. dissertation, Carnegie-Mellon Univ. , Pittsburgh, PA, Aug. 1986.
8. C. G. Atkeson, C. I1. An and J. M. Hollerbach, "Estimation of Inertial Parameters of Manipulator Loads and Links, " mt. J. Robotics Research, vol. . 5, no. 3, pp. 101-119, 1986.
9. H. Mayeda and M. Maruyama, "Identification Method for General Open-Loop Kinematic Chain Dynamic Model" (in Japanese), Proc. of SICE89, pp. 1091-1094, 1989.
10. R. Mayeda, M. Maruyama, K. Yoshida, N. Ikeda and O. Kuwaki, Experimental Examination of The Identifi cation Methods for An Industrial Robot Manipulator, Experimental Robotics II, Springer Verlag in Lecture Notes in Control and Information Sciences Series, to be published.
11. K. Y. Wong and E. Polak, "Identification of Linear Discrete Time Systems Using the Instrumental Variable Method, " IEEE Tras. on Automatic Control, AC-l2, pp. 707-718, 1967.
12. B. Armstrong, "On Finding Exciting Trajectories for Identification Experiments Involving Systems with Nonlinear Dynamics, " tnt. J. Robotscs Research, vol. 8, no. 6, pp. 28-48, 1989.