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Communication Dans Un Congrès Année : 2015

Identification of Robot Dynamic Parameters Using Jacobi Differentiator

Résumé

— This paper investigates the behavior of central Jacobi differentiator in robot identification applications. Jacobi differentiator is a Jacobi orthogonal based algebraic differen-tiator. It is applied to compute acceleration from noisy position measurements. Moreover, its frequency domain property is analyzed via a finite impulse response (FIR) filter point of view, indicating clearly the differentiators performance. In the end, a two revolute joints planar robot identification application is presented and comparisons between the Jacobi differentiator and the Euler differentiation combined with Butterworth filter are drawn.
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Dates et versions

hal-01164109 , version 1 (16-06-2015)

Identifiants

  • HAL Id : hal-01164109 , version 1

Citer

Qi Guo, Maxime Gautier, Da-Yan Liu, Wilfrid Perruquetti. Identification of Robot Dynamic Parameters Using Jacobi Differentiator. 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), IEEE/ASME, Jul 2015, Busan, South Korea. ⟨hal-01164109⟩
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