Online Identification of a Robot Using Batch Adaptive Control
نویسندگان
چکیده
A technique to identify parameters of a robot dynamic model is presented in this paper. It is based on a batch adaptive control algorithm that, using a model of the robot dynamics, realizes a repetitive robot trajectory. The tracking error decreases due to a feedforward control input generated from the dynamic model. This feedforward input is computed after adaptation of the model parameters at the end of each trial. As the algorithm is effective, even if the model parameters are all initially set to zero, it can be used to recover their physical values. For that purpose, an identification experiment is carried out during which the robot is excited persistently. The estimation technique admits an online implementation without a delay between trials and is quite appealing for use in practice. Its merits are experimentally demonstrated on a spatial direct-drive robotic manipulator with 3 rotational joints. Copyright © 2002 IFAC
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تاریخ انتشار 2003