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
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;
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
DOI :
10.1109/ICSMC.1993.390848
