On-line robot dynamic identification based on power model, modulating functions and causal Jacobi estimator

Qi Guo 1 Wilfrid Perruquetti 2, 3 Maxime Gautier 4
2 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
3 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : This paper estimates robot dynamic parameters by means of power model associated with modulating functions, which avoids measuring or calculating the joint acceleration. At the same time, an advanced causal Jacobi derivative estimator is applied in order to get on-line robust derivatives from noisy measurements. In the end simulation results on two degrees of freedom planar robot are presented and comparisons with traditional off-line identification method are drawn.
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Qi Guo, Wilfrid Perruquetti, Maxime Gautier. On-line robot dynamic identification based on power model, modulating functions and causal Jacobi estimator. Advanced Intelligent Mechatronics (AIM), 2014 IEEE/ASME International Conference on, Jul 2014, Besancon, France. pp.494 - 499. ⟨hal-01063052⟩

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