Title :
Bayesian estimation of inertial parameters of robots
Author :
Presse, C. ; Gautier, M.
Author_Institution :
Lab. d´´Autom. de Nantes, CNRS, France
Abstract :
The authors present a Bayesian approach using an energy model to identify the base (identifiable) inertial parameters of a robot, given a prior statistical information (expected value and covariance matrix) about the solution vector. An application of a three-degree-of-freedom robot is simulated to show the efficiency of the method
Keywords :
Bayes methods; parameter estimation; robots; Bayesian estimation; a prior statistical information; covariance matrix; expected value; inertial parameters; parameter estimation; three-degree-of-freedom robot; Acceleration; Bayesian methods; Covariance matrix; Least squares methods; Noise measurement; Parameter estimation; Position measurement; Robot kinematics; Robot sensing systems; Software packages;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220312
