TY - GEN A1 - Kozłowski, Krzysztof A1 - Dutkiewicz, Piotr A2 - Korbicz, Józef - red. A2 - Uciński, Dariusz - red. PB - Zielona Góra: Uniwersytet Zielonogórski N2 - 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. N2 - 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. N2 - 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. L1 - http://www.zbc.uz.zgora.pl/Content/57706/AMCS_1995_5_4_6.pdf L2 - http://www.zbc.uz.zgora.pl/Content/57706 KW - sterowanie KW - sterowanie-teoria KW - sztuczna inteligencja KW - matematyka stosowana KW - informatyka T1 - Optimal trajectory design for the identification of robot and load dynamics UR - http://www.zbc.uz.zgora.pl/dlibra/docmetadata?id=57706 ER -