Identification of Robot Dynamics: An Application of Recursive Estimation

  • Charles P. Neuman
  • Pradeep K. Khosla

Abstract

To synthesize robust robot parameter identification algorithms, we outline the fundamental properties of the Newton-Euler (N-E) and Lagrange-Euler (L-E) formulations of robot dynamics. We transform the nonlinear (in dynamic parameters) N-E dynamic robot model into the equivalent linear (in dynamic parameters) L-E dynamic robot model. We cast the L-E torque/force error model into the series and parallel identifier structures for on-line and off-line robot parameter estimation. To illustrate our approach, we identify (in simulation) the dynamic parameters of the cylindrical prototype robot and the three degreeof-freedom positioning system of the Stanford manipulator. Our identification algorithm is directly amenable to the real-time identification of the pay-load inertial characteristics and the dynamic frictional coefficients for precise trajectory control.

Keywords

Error Model Dynamic Parameter Identification Algorithm Dynamic Robot Robot Parameter 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer Science+Business Media New York 1986

Authors and Affiliations

  • Charles P. Neuman
    • 1
  • Pradeep K. Khosla
    • 1
  1. 1.Department of Electrical and Computer Engineering, The Robotics InstituteCarnegie-Mellon UniversityPittsburghUSA

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