State Space Estimation Method for Robot Identification - Archive ouverte HAL Access content directly
Conference Papers Year : 2016

State Space Estimation Method for Robot Identification

Abstract

In this paper, we study the identification of robot dynamic models. The usual technique, based on the Least-Squares method, is carefully detailed. A new procedure based on Kalman filtering and fixed interval smoothing is developed. This new technique is compared to usual one with simulated and experimental data. The obtained results show that the proposed technique is a credible alternative, especially if the system bandwidth is unknown.
Fichier principal
Vignette du fichier
Bruno_17449.pdf (700.82 Ko) Télécharger le fichier
Origin Files produced by the author(s)
Loading...

Dates and versions

hal-01529166 , version 1 (30-05-2017)

Identifiers

Cite

Mathieu Brunot, Alexandre Janot, Francisco Carrillo, Maxime Gautier. State Space Estimation Method for Robot Identification. 7th IFAC Symposium on Mechatronic Systems, Sep 2016, Loughborough, United Kingdom. pp.228-233, ⟨10.1016/j.ifacol.2016.10.555⟩. ⟨hal-01529166⟩
213 View
178 Download

Altmetric

Share

Gmail Mastodon Facebook X LinkedIn More