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A practical method is proposed for estimating the inertial parameters of robot manipulators with substantial unmodeled joint kiction and actuator dynamics. The manipulator is mounted on a six-axis forcehorque sensor. Sensor measurements and joint velocities recorded during manipulator motion are used to identify the inertial parameters. The unmodeled joint(More)
—This technical note addresses identification problems of non-uniformly sampled systems. For the input-output representation of non-uniform discrete-time systems, a partially coupled stochastic gradient (C-SG) algorithm is proposed to estimate the model parameters with high computational efficiency compared with the standard stochastic gradient (SG)(More)
A multiinnovation least-squares (MILS) identification algorithm is presented for linear regression models with unknown parameter vectors by expanding the innovation length in the traditional recursive least-squares (RLS) algorithm from the viewpoint of innovation modification. Because the proposed MILS algorithm uses p innovations (not only the current(More)