Categorization of parameters in the dynamic robot model

Pradeep Khosla
IEEE Transactions on Robotics and Automation, Vol. 5, No. 3, June, 1989, pp. 261 - 268.


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Abstract
The author addresses the problem of generating persistently exciting trajectories for parameter estimation. To achieve this, he proposes an algorithm that categorizes the dynamics parameters of a manipulator into three classes: uniquely identifiable, identifiable in linear combinations only, and unidentifiable. Since the proposed algorithm categorizes the parameters only on the basis of the kinematic configuration of the manipulator, it makes it possible to determine if a chosen trajectory (for estimation) is persistently exciting. The categorization procedure also helps in making the estimation procedure more robust. Based on the proposed algorithm, the parameters of the CMU DD (Carnegie-Mellon University Direct-Drive) Arm II were categorized.

Notes

Text Reference
Pradeep Khosla, "Categorization of parameters in the dynamic robot model," IEEE Transactions on Robotics and Automation, Vol. 5, No. 3, June, 1989, pp. 261 - 268.

BibTeX Reference
@article{Khosla_1989_3558,
   author = "Pradeep Khosla",
   title = "Categorization of parameters in the dynamic robot model",
   journal = "IEEE Transactions on Robotics and Automation",
   pages = "261 - 268",
   month = "June",
   year = "1989",
   volume = "5",
   number = "3",
}