MIMO Closed Loop Identification of an Industrial Robot

This paper proposes a practical multi-input multi-output (MIMO) closed loop parameters identification procedure for robot manipulators. It is based on the weighted least squares (WLS) method, coupled with particular solutions to facilitate the estimation, reducing the noise effect. More precisely, a...

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Veröffentlicht in:	IEEE transactions on control systems technology 2011-09, Vol.19 (5), p.1214-1224
Hauptverfasser:	Calanca, A., Capisani, L. M., Ferrara, A., Magnani, L.
Format:	Artikel
Sprache:	eng
Schlagworte:	Applied sciences Automation Computer science control theory systems Control theory. Systems Drives Estimates Exact sciences and technology Least squares methods Linkage mechanisms, cams Manipulators Mathematical models Mechanical engineering. Machine design MIMO Modelling and identification Noise Optimization Robot arms Robotics Robots Studies System identification Trajectory planning
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