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The Theory of Kinematic Parameter Identification for Industrial Robots

โœ Scribed by Everett, L. J.; Hsu, Tsing-Wong

Book ID
120927839
Publisher
The American Society of Mechanical Engineers
Year
1988
Tongue
English
Weight
638 KB
Volume
110
Category
Article
ISSN
0022-0434

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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