Title :
On the identification of the inertial parameters of robots
Author :
Gautier, M. ; Khalil, W.
Author_Institution :
CNRS, Nantes, France
Abstract :
An algorithm is presented for the identification of the inertial parameters and friction coefficients of robots. The algorithm is not required to measure or calculate the joint accelerations. The identification model is based on the energy theorem, is linear in the robot parameters, and is easy to calculate. An example of a two-degree-of-freedom robot is presented
Keywords :
friction; parameter estimation; robots; energy theorem; friction coefficients; identification; inertial parameters; joint accelerations; robots; Acceleration; Computational complexity; Energy measurement; Equations; Friction; Least squares methods; Mechanical systems; Motion control; Robot kinematics; Velocity measurement;
Conference_Titel :
Decision and Control, 1988., Proceedings of the 27th IEEE Conference on
Conference_Location :
Austin, TX
DOI :
10.1109/CDC.1988.194738
