IEEE - Institute of Electrical and Electronics Engineers, Inc. - On robot dynamic model identification through sub-workspace evolved trajectories for optimal torque estimation

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)

Author(s): Nicola Pedrocchi ; Enrico Villagrossi ; Federico Vicentini ; Lorenzo Molinari Tosatti
Sponsor(s): IEEE Ind. Electron. Soc.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 2013
Conference Location: Tokyo, Japan
Conference Date: 3 November 2013
Page(s): 2,370 - 2,376
ISSN (Paper): 2153-0858
DOI: 10.1109/IROS.2013.6696689
Regular:

Model-based control are affected by the accuracy of dynamic calibration. For industrial robots, identification techniques predominantly involve rigid body models linearized on a set of minimal... View More

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