• DocumentCode
    3011292
  • Title

    Validation of a Parametric Identification Technique through a Derivative CESTAC Method

  • Author

    Marcassus, N. ; Vandanjon, P.O. ; Janot, A. ; Gautier, M.

  • Author_Institution
    Cybern. de Nantes, Nantes
  • fYear
    2007
  • fDate
    20-23 June 2007
  • Firstpage
    303
  • Lastpage
    308
  • Abstract
    Parametric identification consists in estimating the values of physical parameters of robotic systems. The most popular methods consist in using the least squares regression because of their simplicity. However, we know that these techniques are not intrinsically robust. An alternative consists in justifying the use of the LS technique. This paper focuses on this issue and introduces a derivation of the CESTAC method which will be applied to a 6 degrees of freedom (DOF) serial robot.
  • Keywords
    parameter estimation; robots; 6 degrees of freedom serial robot; derivative CESTAC method; parametric identification; physical parameters; robotic systems; Acceleration; Computational intelligence; Friction; Gravity; Inverse problems; Least squares methods; Robot sensing systems; Robotics and automation; USA Councils; Vectors;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Computational Intelligence in Robotics and Automation, 2007. CIRA 2007. International Symposium on
  • Conference_Location
    Jacksonville, FI
  • Print_ISBN
    1-4244-0790-7
  • Electronic_ISBN
    1-4244-0790-7
  • Type

    conf

  • DOI
    10.1109/CIRA.2007.382898
  • Filename
    4269898
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3011292