DocumentCode
1964014
Title
Model-based control of a direct drive arm. I. Building models
Author
An, Chae H. ; Atkeson, Christopher G. ; Hollerbach, John M.
Author_Institution
IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
fYear
1988
fDate
24-29 Apr 1988
Firstpage
1374
Abstract
Work on building robot models to be used in designing model-based controllers is described. Various algorithms are presented estimating the kinematic, link-inertial, and load-inertial parameters. It is shown experimentally that accurate estimates can be obtained automatically using sensor data taken during movement. The algorithms have been implemented on the MIT Serial Link Direct Drive Arm
Keywords
kinematics; parameter estimation; robots; MIT Serial Link Direct Drive Arm; direct drive arm; kinematics; model-based controllers; parameter estimation; robots; Artificial intelligence; Automatic control; Buildings; Calibration; Gears; Kinematics; Laboratories; Robotics and automation; System identification; Torque measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location
Philadelphia, PA
Print_ISBN
0-8186-0852-8
Type
conf
DOI
10.1109/ROBOT.1988.12259
Filename
12259
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