Real time identification of robot dynamic parameters using parallel processing. 1. Theory
| Autor: | G.M. Asher, H. Temeltas |
|---|---|
| Rok vydání: | 1995 |
| Předmět: |
Estimation theory
business.industry Inverse Estimator Robotics Inverse problem Identification (information) Parallel processing (DSP implementation) Control and Systems Engineering Control theory Robot Artificial intelligence Electrical and Electronic Engineering business Instrumentation Mathematics |
| Zdroj: | IEE Proceedings - Control Theory and Applications. 142:359-368 |
| ISSN: | 1359-7035 1350-2379 |
| Popis: | The paper develops the mathematical foundations for a parallel recursive estimator for the identification of dynamic parameters for a general n-link high performance robot. The estimation is structured so that one estimator is assigned to each link. Only composite parameters used for calculating joint torques (the inverse dynamic equations) are identified. The parallel structure makes possible the real-time estimation of dynamic parameters, including load and frictions, using only medium-speed processors. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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