Splines smoothing assisted least-squares identification of robotic manipulators

0433927 - ÚTIA 2015 MX eng C - Konferenční příspěvek (zahraniční konf.)
Dolinský, Kamil - Čelikovský, Sergej
Splines smoothing assisted least-squares identification of robotic manipulators.
Proceedings of the Memorias del XVI Congreso Latinoamericano de Control Automático, CLCA 2014 Cancún, Quintana Roo, México. Cancún, Quintana Roo, México: AMCA, 2014, s. 702-707.
[Memorias del XVI Congreso Latinoamericano de Control Automático, CLCA 2014 Cancún, Quintana Roo, México. Cancún, Quintana Roo (MX), 14.10.2014-17.10.2014]
Grant CEP: GA ČR(CZ) GAP103/12/1794
Institucionální podpora: RVO:67985556
Klíčová slova: Parameter identifcation * Mechanical systems * Robotic manipulators
Kód oboru RIV: BC - Teorie a systémy řízení

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 identication, 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.
Trvalý link: http://hdl.handle.net/11104/0238112