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
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;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12259
