文章基本信息

标题：Backward sequential approach for dynamic parameter identification of robot manipulators
作者：Dawoon Jung ; Joono Cheong ; Dong Il Park 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2018
卷号：15
期号：1
DOI：10.1177/1729881418758578
语种：English
出版社：SAGE Publications
摘要：This article proposes a sequential optimization approach to efficiently identify non-minimal dynamic parameters of robot manipulators, possibly having large degrees of freedom. A back-substitution-based parameter identification from the last link to inward links is enabled due to the block upper triangular form of inherent regressor matrix. Starting with the dynamic model using the non-minimal parameters, we derive a generic compact formulation for the linear regression equation. We then establish a sequential optimization procedure taking into account physical feasibility of parameters. Numerical case examples demonstrate the validity of the proposed approach.
关键词：Parameter identification; non-minimal parameters; robot manipulator; robot dynamics