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
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;
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
DOI :
10.1109/CIRA.2007.382898
