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A parameter identification approach using optimal exciting trajectories for a class of industrial robots

✍ Scribed by J. Schaefers; S. J. Xu; M. Darouach

Publisher: Springer Netherlands
Year: 1996
Tongue: English
Weight: 299 KB
Volume: 15
Category: Article
ISSN: 0921-0296
DOI: 10.1007/bf00435724

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✦ Synopsis

In this paper, the problem of finding optimal exciting trajectories for parameter identification of industrial robots is investigated. A cost function of maximizing the minimum singular value of a recursive matrix is used in the optimization procedure. The optimal exciting trajectories obtained is insensitive with respect to the parameter perturbation. The identification accuracy and convergence speed or parameters is improved.

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