• DocumentCode
    872324
  • Title

    Terminal-link parameter estimation of robotic manipulators

  • Author

    Kawasaki, Haruhisa ; Nishimura, Kunitoshi

  • Author_Institution
    NTT Corp., Tokyo, Japan
  • Volume
    4
  • Issue
    5
  • fYear
    1988
  • fDate
    10/1/1988 12:00:00 AM
  • Firstpage
    485
  • Lastpage
    490
  • Abstract
    The authors present a manipulator terminal-link parameter estimation method. The estimation equations are linear in the unknown terminal-link parameters. These unknown parameters are estimated using an instrument variable method (IVM). It is verified theoretically and experimentally that the IVM asymptotically yields consistent estimates. The number of operations required to estimate the terminal-link parameters of a manipulator having six degrees of freedom is about 1800 multiplications and 1500 additions using the recursive IVM at k=5, where k is the sampling number
  • Keywords
    parameter estimation; robots; instrument variable method; robotic manipulators; terminal-link parameter estimation; Acceleration; Accelerometers; Equations; Friction; Hydraulic actuators; Instruments; Manipulator dynamics; Parameter estimation; Robots; Vectors;
  • fLanguage
    English
  • Journal_Title
    Robotics and Automation, IEEE Journal of
  • Publisher
    ieee
  • ISSN
    0882-4967
  • Type

    jour

  • DOI
    10.1109/56.20432
  • Filename
    20432
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=872324