An algorithm to estimate manipulator dynamics parameters

  title={An algorithm to estimate manipulator dynamics parameters},
  author={Pradeep K. Khosla and Takeo Kanade},
This paper presents algorithms for identifying parameters of an N degrees-of-freedom robotic manipulator. First, we outline the fundamental properties of the Newton-Euler formulation of robot dynamics from the view point of parameter identification. We then show that the Newton-Euler model which is nonlinear in the dynamic parameters can be transformed into an equivalent modified model which is linear in dynamic parameters. We develop both on-line and off-line parameter estimation procedures… CONTINUE READING
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