Robot excitation trajectories for dynamic parameter estimation using optimized B-splines

Robot excitation trajectories for dynamic parameter estimation using optimized B-splines

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 optim...

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Hauptverfasser: Rackl, W., Lampariello, R., Hirzinger, G.
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Sprache:eng
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Joints
Optimization
Robots
Solid modeling
Splines (mathematics)
Torque
Trajectory
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Hirzinger, G.
description 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.
doi_str_mv 10.1109/ICRA.2012.6225279
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subjects Joints
Optimization
Robots
Solid modeling
Splines (mathematics)
Torque
Trajectory
title Robot excitation trajectories for dynamic parameter estimation using optimized B-splines
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