Title :
A learning scheme for the parameter identification of robot dynamics
Author :
Bao, Ping-An ; Jiang, Ping ; Chen, Hui-tang
Author_Institution :
Dept. of Electr. Eng., Tongji Univ., Shanghai, China
Abstract :
In this paper, a new identification method, called learning identification algorithm, of the model parameters of robot dynamics is proposed. This method has the following features: it does not require the exciting trajectory, and the measurements of joint accelerations and velocities. The method is demonstrated experimentally by estimating the dynamic parameters of a shaped glass cutting robot
Keywords :
learning (artificial intelligence); manipulator dynamics; parameter estimation; learning scheme; parameter identification; robot dynamics; shaped glass cutting robot; Acceleration; Erbium; Glass; Manipulator dynamics; Motion estimation; Parameter estimation; Robot control; Robust stability; Torque control; Vectors;
Conference_Titel :
Industrial Technology, 1996. (ICIT '96), Proceedings of The IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
0-7803-3104-4
DOI :
10.1109/ICIT.1996.601673
