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		<identifier>oai:zbc.uz.zgora.pl:57706</identifier>
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<dc:title xml:lang="pl"><![CDATA[Optimal trajectory design for the identification of robot and load dynamics]]></dc:title>
<dc:creator><![CDATA[Kozłowski, Krzysztof (1951-2021)]]></dc:creator>
<dc:creator><![CDATA[Dutkiewicz, Piotr]]></dc:creator>
<dc:subject xml:lang="pl"><![CDATA[sterowanie]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[sterowanie-teoria]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[sztuczna inteligencja]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[matematyka stosowana]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[informatyka]]></dc:subject>
<dc:description xml:lang="pl"><![CDATA[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.]]></dc:description>
<dc:description xml:lang="pl"><![CDATA[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.]]></dc:description>
<dc:description xml:lang="pl"><![CDATA[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.]]></dc:description>
<dc:publisher><![CDATA[Zielona Góra: Uniwersytet Zielonogórski]]></dc:publisher>
<dc:contributor><![CDATA[Korbicz, Józef (1951- ) - red.]]></dc:contributor>
<dc:contributor><![CDATA[Uciński, Dariusz - red.]]></dc:contributor>
<dc:date><![CDATA[1995]]></dc:date>
<dc:type xml:lang="pl"><![CDATA[artykuł]]></dc:type>
<dc:identifier><![CDATA[http://www.zbc.uz.zgora.pl/repozytorium/Content/57706/AMCS_1995_5_4_6.pdf]]></dc:identifier>
<dc:identifier><![CDATA[https://zbc.uz.zgora.pl/repozytorium/dlibra/publication/64283/edition/57706/content]]></dc:identifier>
<dc:identifier><![CDATA[oai:zbc.uz.zgora.pl:57706]]></dc:identifier>
<dc:source xml:lang="pl"><![CDATA[AMCS, volume 5, number 4 (1995)]]></dc:source>
<dc:source xml:lang="pl"><![CDATA[https://www.amcs.uz.zgora.pl/?action=paper&paper=1159]]></dc:source>
<dc:language><![CDATA[eng]]></dc:language>
<dc:relation><![CDATA[oai:zbc.uz.zgora.pl:publication:64283]]></dc:relation>
<dc:rights xml:lang="pl"><![CDATA[Biblioteka Uniwersytetu Zielonogórskiego]]></dc:rights>
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