The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

This paper presents algorithms for identifying parameters of an N degrees-of-freedom robotic manipulator. First, we outline the fundamental properties of the Newton-Euler formulation of robot dynamics from the view point of parameter identification. We then show that the Newton-Euler model which is nonlinear in the dynamic parameters can be transformed into an equivalent modified model which is linear in dynamic parameters. We develop both on-line and off-line parameter estimation procedures. To illustrate our approach, we identify the dynamic parameters of the cylindrical robot, and the three degree-of-freedom positioning system of the CMU Direct-Drive Arm II. The experimental implementation of our algorithm to estimate the dynamics parameters of the six degrees-of-freedom CMU DD Arm 11 is also presented.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Text Reference

Pradeep Khosla and Takeo Kanade, "An Algorithm to Estimate Manipulator Dynamics Parameters," International Journal of Robotics and Automation, Vol. 2, No. 3, September, 1987

BibTeX Reference

@article{Khosla_1987_2502,
   author = "Pradeep Khosla and Takeo Kanade",
   title = "An Algorithm to Estimate Manipulator Dynamics Parameters",
   journal = "International Journal of Robotics and Automation",
   month = "September",
   year = "1987",
   volume = "2",
   number = "3",
}

The Robotics Institute

Menu