The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Dynamic Model Identification for Industrial Robots
Abstract
The use of periodic excitation is the key feature of the presented robot identification method. Periodic excitation allows us to integrate the experiment design, signal processing, and parameter estimation. This integration simplifies the identification procedure and yields accurate models. Experimental results on an industrial robot manipulator show that the estimated dynamic robot model can accurately predict the actuator torques for a given robot motion. Accurate actuator torque prediction is a fundamental requirement for robot models that are used for offline programming, task optimization, and advanced model-based control. A payload identification approach is derived from the integrated robot identification method, and possesses the same favorable properties.
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Citations
Cites
Estimation of Inertial Parameters of Manipulator Loads and Links
Atkeson, C. G., An, C. H., & Hollerbach, J. M. (1986) · The International Journal of Robotics Research · doi:10.1177/027836498600500306 · Cited by 590
Cited by
Gaz, C., Cognetti, M., Oliva, A., Robuffo Giordano, P., & De Luca, A. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2931248 · Cited by 323
A New Closed-Loop Output Error Method for Parameter Identification of Robot Dynamics
Gautier, M., Janot, A., & Vandanjon, P.-O. (2013) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2012.2185697 · Cited by 191
Output Error Methods for Robot Identification
Brunot, M., Janot, A., Carrillo, F., Cheong, J., & Noël, J.-P. (2020) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.4045430 · Cited by 25
Metadata
- Venue
- IEEE Control Systems
- Published
- 2007-10
- Volume
- 27
- Issue
- 5
- Pages
- 58-71
- ISSN
- 1066-033X (ISSN-L)
- 1941-000X
- OpenAlex
- W1964511224
- Cited by
- 409
- References
- 1
- FWCI
- 11.99
- Type
- journal article
- Language
- en
- Open access
- closed
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