Parameter Identification of Robot Dynamics - Robotics Institute Carnegie Mellon University

Parameter Identification of Robot Dynamics

Pradeep Khosla and Takeo Kanade
Conference Paper, Proceedings of 24th IEEE Conference on Decision and Control (CDC '85), pp. 1754 - 1760, December, 1985

Abstract

This paper presents algorithms for identifying parameters of multi-degrees-of-freedom robotic arm. 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 some of dynamic parameters can be transformed into the equivalent 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.

BibTeX

@conference{Khosla-1985-15260,
author = {Pradeep Khosla and Takeo Kanade},
title = {Parameter Identification of Robot Dynamics},
booktitle = {Proceedings of 24th IEEE Conference on Decision and Control (CDC '85)},
year = {1985},
month = {December},
pages = {1754 - 1760},
}