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Experimental Evaluation of Parameter Identification Schemes on an Anthropomorphic Direct Drive Robot : Valutazione sperimentale di schemi di identificazione parametri per un robot antropomorfo direct drive, in: International Journal of Advanced Robotic Systems |
Documenti accessibili
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Informazioni generali |
| Autore |
Chávez-Olivares, César; Reyes-Cortés, Fernando; González-Galván, Emilio; Mendoza-Gutierrez, Marco; Bonilla-Gutierrez, Isela |
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InTech Open Access Publisher, 2012
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| Abstract |
The inertial and friction parameters of a robot
are used in the development and evaluation of modelbased
control schemes and their accuracy is related
directly to the performance. These parameters can also be
used for a realistic simulation, which may be useful
before implementation of new control schemes. In
principle, the numerical value of the parameters could be
obtained via CAD analysis, but inevitably assembly and
manufacturing errors exist. Direct measurement is not a
realistic option because the complex nature of the system
involves intense, time‐consuming effort. Alternatively,
we can deduce the values of the parameters by observing
the natural response of the system under appropriate
experimental conditions, i.e., by using identification
schemes, which is an efficient way. This paper presents
the experimental evaluation of five identification schemes
used to obtain the inertial and friction parameters of a
three‐degrees‐of‐freedom direct‐drive robot. We assume
that the inertial and friction parameters are totally
unknown but, by design, the dynamic model is fully
known, as in many practical cases. We consider the
schemes based on the dynamic regression model, the
filtered‐dynamic regression model, the supplied‐energy
regression model, the power regression model and the
filtered‐power regression model. This paper presents a
comparison between experimental and simulated robot
response, which enables us to verify the accuracy of each
regression model. |
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International Journal of Advanced Robotic Systems
Autore: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Pubblicato: 2004
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