Splines smoothing assisted least-squares identification of robotic manipulators
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00221952" target="_blank" >RIV/68407700:21230/14:00221952 - isvavai.cz</a>
Result on the web
—
DOI - Digital Object Identifier
—
Alternative languages
Result language
angličtina
Original language name
Splines smoothing assisted least-squares identification of robotic manipulators
Original language description
This article presents a procedure that can be used to identify parameters of robotic manipulators that can be described by Euler-Lagrange equations of motion. This approach requires only measurements of angular position and torques acting in joints of the robot. To obtain smooth data for identification, angular measurements are smoothed by cubic splines. This allows analytical calculations of corresponding angular velocities and accelerations. Estimation of robot parameters can be then posed as an overdetermined linear problem. This approach is demonstrated on a simulation of a two-degree of freedom robotic manipulator. Results show that the procedure is much more robust compared to other classically used techniques while preserving high accuracy.
Czech name
—
Czech description
—
Classification
Type
O - Miscellaneous
CEP classification
BC - Theory and management systems
OECD FORD branch
—
Result continuities
Project
<a href="/en/project/GAP103%2F12%2F1794" target="_blank" >GAP103/12/1794: Advanced methods for complex systems analysis and control.</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů