Title :
Real time identification of robot dynamic parameters using parallel processing. 1. Theory
Author :
Temeltas, H. ; Asher, G.M.
Author_Institution :
Dept. of Electr. & Electron. Eng., Nottingham Univ., UK
fDate :
7/1/1995 12:00:00 AM
Abstract :
The paper develops the mathematical foundations for a parallel recursive estimator for the identification of dynamic parameters for a general n-link high performance robot. The estimation is structured so that one estimator is assigned to each link. Only composite parameters used for calculating joint torques (the inverse dynamic equations) are identified. The parallel structure makes possible the real-time estimation of dynamic parameters, including load and frictions, using only medium-speed processors
Keywords :
least squares approximations; parallel processing; parameter estimation; real-time systems; robot dynamics; composite parameters; dynamic parameters; identification; inverse dynamic equations; joint torques; parallel processing; parallel recursive estimator; real-time parameter estimation; robot;
Journal_Title :
Control Theory and Applications, IEE Proceedings -
DOI :
10.1049/ip-cta:19951971