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

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",
}

The Robotics Institute

Menu