An Algorithm to Estimate Manipulator Dynamics Parameters

Pradeep Khosla and Takeo Kanade
International Journal of Robotics and Automation, Vol. 2, No. 3, October, 1987


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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, October, 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 = "October",
   year = "1987",
   volume = "2",
   number = "3",
}