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Robot Excitation Trajectories for Dynamic Parameter Estimation using Optimized B-Splines
Rackl, Wolfgang and Lampariello, Roberto and Hirzinger, Gerd (2012) Robot Excitation Trajectories for Dynamic Parameter Estimation using Optimized B-Splines. 2012 IEEE International Conference on Robotics and Automation, 14.-18. Mai 2012, Saint Paul, Minnesota, USA.
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Abstract
In this paper we adressed the problem of finding exciting trajectories for the identification of manipulator link inertia parameters. This can be formulated as a constraint nonlinear optimization problem. The new approach in the presented method is the parameterization of the trajectories with optimized B-splines. Experiments are carried out on a 7 joint Light-Weight robot with torque sensoring in each joint. Thus, unmodeled joint friction and noisy motor current measurements must not be taken into account. The estimated dynamic model is verified on a different validation trajectory. The results show a clear improvement of the estimated dynamic model compared to a CAD-valued model.
| Document Type: | Conference or Workshop Item (Paper) | ||||||||
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| Title: | Robot Excitation Trajectories for Dynamic Parameter Estimation using Optimized B-Splines | ||||||||
| Authors: |
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| Date: | 14 May 2012 | ||||||||
| Refereed publication: | Yes | ||||||||
| Status: | Published | ||||||||
| Keywords: | Parameter Estimation, Exciting Trajectories, Nonlinear Optimization, B-Splines | ||||||||
| Event Title: | 2012 IEEE International Conference on Robotics and Automation | ||||||||
| Event Location: | Saint Paul, Minnesota, USA | ||||||||
| Event Type: | international Conference | ||||||||
| Event Dates: | 14.-18. Mai 2012 | ||||||||
| Organizer: | IEEE | ||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||
| HGF - Program: | Raumfahrt | ||||||||
| HGF - Program Themes: | R SY - Technik für Raumfahrtsysteme | ||||||||
| DLR - Research area: | Raumfahrt | ||||||||
| DLR - Program: | R SY - Technik für Raumfahrtsysteme | ||||||||
| DLR - Research theme (Project): | R - RMC - Mechatronik und Telerobotik | ||||||||
| Location: | Oberpfaffenhofen | ||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics > Robotic Systems | ||||||||
| Deposited By: | Wolfgang Rackl | ||||||||
| Deposited On: | 10 Aug 2012 10:14 | ||||||||
| Last Modified: | 18 Apr 2013 13:59 |
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