An algorithm to estimate manipulator dynamics parameters

@inproceedings{Khosla1987AnAT,
  title={An algorithm to estimate manipulator dynamics parameters},
  author={Pradeep K. Khosla and Takeo Kanade},
  year={1987}
}
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
3 Citations
15 References
Similar Papers

References

Publications referenced by this paper.
Showing 1-10 of 15 references

Industrial Robot Calibration Methods and Results

  • D. Whitney, C. A. Lozinski
  • Roceedings
  • 1986

Adaptive Filtering, Redict ion and Control. Prentice-Hall, Englewood-Cliffs

  • G. C. Goodwin, K. S. Sin
  • N J ,
  • 1984

Robot Technology. Volume 2: Interaction With the Environment

  • P. Coiffet
  • 1983

Robot Positioning Accuracy Improvement through Kinematic Parameter

  • MIT Press, MA Cambridge, J. 1982. Chen, Wang, C.S.C.B. andYang
  • In Proceedings of the Third Canadian CAD/CAM in…
  • 1982

On - Line Computational Scheme for Mechanical Manipulators

  • J. Y. S. Luh, M. W. Walker, R. P. Paul
  • Journal o f Dynamic Systems , Measurement , and…
  • 1980

Resolved - Acceleration Control of Mechanical Manipulators

  • J. Y. S. Luh, M. W. Walker, R. P. Paul
  • IEEE Transactions on Automatic Control
  • 1980

Similar Papers

Loading similar papers…