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.
Item URL in elib: | https://elib.dlr.de/76903/ | ||||||||||||
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Document Type: | Conference or Workshop Item (Paper) | ||||||||||||
Title: | Robot Excitation Trajectories for Dynamic Parameter Estimation using Optimized B-Splines | ||||||||||||
Authors: |
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Date: | 14 May 2012 | ||||||||||||
Refereed publication: | Yes | ||||||||||||
Open Access: | Yes | ||||||||||||
Gold Open Access: | No | ||||||||||||
In SCOPUS: | No | ||||||||||||
In ISI Web of Science: | No | ||||||||||||
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: | Space | ||||||||||||
HGF - Program Themes: | Space System Technology | ||||||||||||
DLR - Research area: | Raumfahrt | ||||||||||||
DLR - Program: | R SY - Space System Technology | ||||||||||||
DLR - Research theme (Project): | R - RMC - Mechatronik und Telerobotik (old) | ||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | ||||||||||||
Deposited By: | Rackl, Wolfgang | ||||||||||||
Deposited On: | 10 Aug 2012 10:14 | ||||||||||||
Last Modified: | 31 Jul 2019 19:37 |
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