DocumentCode
290776
Title
Sensitivity and error analysis of parameter identification for a class of industrial robots
Author
Shaefers, J. ; Xu, S.J. ; Darouach, M.
Author_Institution
CRP-Henri Tudor, Luxembourg
fYear
1993
fDate
17-20 Oct 1993
Firstpage
195
Abstract
In this paper, the parameter identification problem of a class of industrial robots is investigated. An upper bound of sensitivity of the condition number of optimal exciting trajectories with respect to the variation of parameters is derived. A norm-type bound of estimation error of parameters is proposed. An illustrative example is given and some conclusions are obtained
Keywords
error analysis; industrial robots; optimisation; parameter estimation; position control; robot dynamics; sensitivity analysis; error analysis; estimation error; industrial robots; norm-type bound; optimal exciting trajectories; parameter identification; sensitivity analysis; upper bound; Convergence; Error analysis; Estimation error; Force control; Mathematical model; Optimization methods; Parameter estimation; Robot control; Robot sensing systems; Service robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on
Conference_Location
Le Touquet
Print_ISBN
0-7803-0911-1
Type
conf
DOI
10.1109/ICSMC.1993.390848
Filename
390848
Link To Document