Title :
An efficient algorithm for the calculation of the filtered dynamic model of robots
Author :
Khalil, Wisama ; Restrepo, Pedro Pablo
Author_Institution :
Lab. d´´Autom., Nantes Univ., France
Abstract :
This paper presents a new method for the calculation of the filtered dynamic model of robots which is used in the adaptive control of robots and in the identification of its inertial parameters. The main characteristics of the method is that no symbolic differentiation is used. The variables used in the algorithm are obtained from the transformation matrices between successive link frames. The number of operations in the general case and for some industrial robots are given
Keywords :
adaptive control; filtering theory; matrix algebra; parameter estimation; robot dynamics; adaptive control; filtered dynamic model; industrial robots; inertial parameters identification; transformation matrices; Acceleration; Adaptive control; Adaptive filters; Computational complexity; Electronic mail; Equations; Mathematical model; Robotics and automation; Service robots; Vectors;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.503797
