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Robot excitation trajectories for dynamic parameter estimation using optimized B-splines

โœ Scribed by Rackl, Wolfgang ;Lampariello, Roberto ;Hirzinger, Gerd


Book ID
115505838
Publisher
IEEE
Year
2012
Weight
378 KB
Series
undefined series for scimag
Category
Article

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โœ J. Schaefers; S. J. Xu; M. Darouach ๐Ÿ“‚ Article ๐Ÿ“… 1996 ๐Ÿ› Springer Netherlands ๐ŸŒ English โš– 299 KB

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 i