Klodmann, Julian und Lakatos, Dominic und Ott, Christian und 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, 2015-02-18 - 2015-02-20, Wien. doi: 10.1016/j.ifacol.2015.05.021.
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Kurzfassung
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.
elib-URL des Eintrags: | https://elib.dlr.de/134354/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | A Closed-Form Approach to Determine the Base Inertial Parameters of Complex Structured Robotic Systems | ||||||||||||||||||||
Autoren: |
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Datum: | 18 Februar 2015 | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||
DOI: | 10.1016/j.ifacol.2015.05.021 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Parameter identification, Reduced-order models, Least-squares identification, Robot dynamics, MIRO | ||||||||||||||||||||
Veranstaltungstitel: | 8th Vienna International Conference on Mathematical Modelling | ||||||||||||||||||||
Veranstaltungsort: | Wien | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 18 Februar 2015 | ||||||||||||||||||||
Veranstaltungsende: | 20 Februar 2015 | ||||||||||||||||||||
Veranstalter : | Vienna University of Technology | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Terrestrische Assistenz-Robotik (alt) | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||
Hinterlegt von: | Klodmann, Julian | ||||||||||||||||||||
Hinterlegt am: | 10 Mär 2020 09:32 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:37 |
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