Title :
On representing robot modelling errors as disturbances in joint accelerations: theory and experiments
Author :
Cahill, Aidan J. ; Kieffe, Jon C. ; James, Matthew R.
Author_Institution :
Australian Nat. Univ., Canberra, ACT, Australia
Abstract :
In this paper we propose an approach for identifying robot modelling errors as disturbances in joint accelerations and a theory for relating such disturbances to the performance of robots under computed-torque control. We present some experimental evidence that the theory can be useful in practice
Keywords :
acceleration; error analysis; identification; modelling; robot dynamics; torque control; computed-torque control; disturbances; identification; joint accelerations; least squares estimation; modelling errors; robot; torque control; Acceleration; Australia; Computer errors; Equations; Error correction; Linear systems; Predictive models; Robot control; Robot sensing systems; System performance;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.478952
