Robot dynamic calibration: Optimal excitation trajectories and experimental parameter estimation
نویسندگان
چکیده
منابع مشابه
Robot dynamic calibration: Optimal excitation trajectories and experimental parameter estimation
Advanced robot control schemes require an accurate knowledge of the dynamic parameters of the manipulator. This article examines various issues related to robot dynamic calibration, from generation of optimal excitation trajectories to data acquisition and filtering, and experimental inertial and friction parameter estimation. In particular, a new method is developed for the determination of op...
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ژورنال
عنوان ژورنال: Journal of Robotic Systems
سال: 2001
ISSN: 0741-2223,1097-4563
DOI: 10.1002/1097-4563(200102)18:2<55::aid-rob1005>3.3.co;2-f