Dynamic Parameter Identification for a Manipulator with Joint Torque Sensors Based on an Improved Experimental Design

Dynamic Parameter Identification for a Manipulator with Joint Torque Sensors Based on an Improved Experimental Design

As the foundation of model control, robot dynamics is crucial. However, a robot is a complex multi-input–multi-output system. System noise seriously affects parameter identification results, thereby inevitably requiring us to conduct signal processing to extract useful signals from chaotic...

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Bibliographic Details
Main Authors: Jidong Jia, Minglu Zhang, Xizhe Zang, He Zhang, Jie Zhao
Format: Article
Language:English
Published: MDPI AG 2019-05-01
Series:Sensors
Subjects:
dynamic parameter identification
excitation optimization
maximum likelihood estimation
robotics
motion control
experiment design
signal processing
Online Access:https://www.mdpi.com/1424-8220/19/10/2248

Internet

https://www.mdpi.com/1424-8220/19/10/2248

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