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Conference Papers Year : 2016

State Space Estimation Method for Robot Identification


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



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⟩
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