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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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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)
Title:Robot Excitation Trajectories for Dynamic Parameter Estimation using Optimized B-Splines
AuthorsInstitution or Email of Authors
Rackl, Wolfgangwolfgang.rackl@dlr.de
Lampariello, RobertoRoberto.Lampariello@dlr.de
Hirzinger, GerdGerd.Hirzinger@dlr.de
Date:14 May 2012
Refereed publication:Yes
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
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Mechatronik und Telerobotik (old)
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:12 Dec 2013 21:44

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