Dynamic identification of robots with power model

@article{Gautier1997DynamicIO,
  title={Dynamic identification of robots with power model},
  author={Maxime Gautier},
  journal={Proceedings of International Conference on Robotics and Automation},
  year={1997},
  volume={3},
  pages={1922-1927 vol.3}
}
  • Maxime Gautier
  • Published in
    Proceedings of International…
    1997
  • Mathematics, Computer Science
  • This paper presents a new approach to identify the minimum dynamic parameters of robots using least squares techniques (LS) and a power model. Theoretical analysis is carried out from a filtering point of view and clearly shows the superiority of the power model over the energy one and over the dynamic identification model which has been used to carry out a classical ordinary LS estimation and a new weighted LS estimation. These results are checked from comparing experimental identification of… CONTINUE READING

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