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A Closed-Form Approach to Determine the Base Inertial Parameters of Complex Structured Robotic Systems

Klodmann, Julian and Lakatos, Dominic and Ott, Christian and Albu-Schäffer, Alin (2015) A Closed-Form Approach to Determine the Base Inertial Parameters of Complex Structured Robotic Systems. 8th Vienna International Conference on Mathematical Modelling, 18.-20. Feb. 2015, Wien.

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Abstract

The dynamic performance and steady-state control errors of many control schemes improve with increasing model accuracy. This paper presents a method to determine the symbolic expressions of the base inertial parameters and the corresponding regressor matrix for models of robotic systems that are linear in the parameters. This is achieved using a transformation based on the row space of the initially rank-deficient observation matrix. Compared to the state-of-the-art methods the proposed approach can handle complex multi-body structures for instance dynamic models with non-collocation of the position and the torque sensors. In addition it applies for general linear parameter models. The procedure of the algorithm is demonstrated considering the double pendulum dynamics as a closed-form example. Furthermore, the performance of the approach is experimentally validated with the 7 degree of freedom medical robot DLR MIRO.

Item URL in elib:https://elib.dlr.de/100941/
Document Type:Conference or Workshop Item (Speech)
Title:A Closed-Form Approach to Determine the Base Inertial Parameters of Complex Structured Robotic Systems
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Klodmann, Julianjulian.klodmann (at) dlr.deUNSPECIFIED
Lakatos, Dominicdominic.lakatos (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:18 February 2015
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Parameter identification, Reduced-order models, Least-squares identification, Robot dynamics
Event Title:8th Vienna International Conference on Mathematical Modelling
Event Location:Wien
Event Type:international Conference
Event Dates:18.-20. Feb. 2015
Organizer:Vienna University of Technology
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 - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Klodmann, Julian
Deposited On:14 Dec 2015 16:46
Last Modified:17 Dec 2015 13:53

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