Identification of Dynamic Parameters for Rigid Robots Based on Polynomial Approximation
Lomakin A, Deutscher J (2020)
Publication Type: Conference contribution
Publication year: 2020
Event location: Las Vegas
DOI: 10.1109/iros45743.2020.9341195
Abstract
In this paper an approach for the identification of the dynamic parameters, i.e. base parameters, of rigid robots is presented. By using the polynomial approximation operator, an equation is obtained for the identification of the parameters which solely depends on measurable signals and thereby contains no equation error. The resulting expressions can be evaluated online or offline by filtering the measurable signals with FIR filters. In order to identify the parameters on the basis of measurements, an algorithm is presented to calculate the parameters numerically stable, even if the data is obtained sequentially, without a singular value decomposition. The parameters can be determined meaningfully by considering box constraints in order to ensure physical feasibility. The presented methods are finally used to identify the dynamic parameters of a delta robot and compared to the standard approach.
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How to cite
APA:
Lomakin, A., & Deutscher, J. (2020). Identification of Dynamic Parameters for Rigid Robots Based on Polynomial Approximation. In Proceedings of the International Conference on Intelligent Robots and Systems (IROS), (accepted). Las Vegas, US.
MLA:
Lomakin, Alexander, and Joachim Deutscher. "Identification of Dynamic Parameters for Rigid Robots Based on Polynomial Approximation." Proceedings of the International Conference on Intelligent Robots and Systems (IROS), (accepted), Las Vegas 2020.
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