Object
Title: Optimal trajectory design for the identification of robot and load dynamics
Contributor:
Korbicz, Józef - red. ; Uciński, Dariusz - red.
Group publication title:
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. ; 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. ; 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.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
Pages:
Source:
AMCS, volume 5, number 4 (1995) ; click here to follow the link
Language:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Digital Library of Zielona Góra > Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Digital Library of Zielona Góra > Repository > Types of work > Articles
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS)
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (1995)
Last modified:
Sep 2, 2021
In our library since:
Sep 21, 2020
Number of object content hits:
74
All available object's versions:
https://www.zbc.uz.zgora.pl/publication/64283
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International Journal of Applied Mathematics and Computer Science (AMCS)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 25 (2015)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 24 (2014)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 23 (2013)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 22 (2012)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 21 (2011)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 20 (2010)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 19 (2009)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 18 (2008)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 17 (2007)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 16 (2006)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 15 (2005)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 13 (2003)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 12 (2002)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 11 (2001)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 10 (2000)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 9 (1999)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 8 (1998)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 6 (1996)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 5 (1995)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 5, number 1 (1995)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 5, number 2 (1995)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 5, number 3 (1995)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 5, number 4 (1995)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 25 (2015)
| Edition name | Date |
|---|---|
| Optimal trajectory design for the identification of robot and load dynamics | Sep 2, 2021 |
