@misc{Kozłowski_Krzysztof_Optimal,
 author={Kozłowski, Krzysztof and Dutkiewicz, Piotr},
 howpublished={online},
 publisher={Zielona Góra: Uniwersytet Zielonogórski},
 language={eng},
 abstract={In this paper, we discuss the issue of the optimal trajectory design for the purpose of identification of the inertial and load parameters of a robot. Two dynamical models have been introduced: differential and integral; both of them can be used to estimate the robot dynamic parameters in which they appear to be linear.},
 abstract={Functions associated with the parameters are highly non-linear which in general involve joint positions, velocities and accelerations. A standard sequential least-squares technique can be used to estimate the unknown parameters. This method requires an information matrix which has to be inverted.},
 abstract={For particular joint signals this matrix is singular. In this paper, we propose to optimize the condition number of this matrix in both formulations: differential and integral. This work illustrates the difficulty of maintaining persistent excitation during the experimental identification of robot and load dynamic parameters.},
 type={artykuł},
 title={Optimal trajectory design for the identification of robot and load dynamics},
 keywords={sterowanie, sterowanie-teoria, sztuczna inteligencja, matematyka stosowana, informatyka},
}