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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. doi: 10.1016/j.ifacol.2015.05.021.

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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/134354/
Document Type:Conference or Workshop Item (Speech)
Title:A Closed-Form Approach to Determine the Base Inertial Parameters of Complex Structured Robotic Systems
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:18 February 2015
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Parameter identification, Reduced-order models, Least-squares identification, Robot dynamics, MIRO
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 System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Terrestrial Assistance Robotics (old)
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:10 Mar 2020 09:32
Last Modified:11 Jul 2023 15:40

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