NONLINEAR IDENTIFICATION OF A PHYSICALLY PARAMETERIZED ROBOT MODEL 1
نویسندگان
چکیده
منابع مشابه
Nonlinear Identification of a Physically Parameterized Robot Model
In the work presented here, a three-step identification procedure for rigid body dynamics, friction, and flexibilities, introduced in (Wernholt and Gunnarsson, 2005), will be utilized and extended. Using the procedure, the parameters can be identified only using motor measurements. In the first step, rigid body dynamics and friction will be identified using a separable least squares method, whe...
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ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 2006
ISSN: 1474-6670
DOI: 10.3182/20060329-3-au-2901.00016