机械臂末端链路参数估计

IEEE J. Robotics Autom. Pub Date : 1988-10-01 DOI:10.1109/56.20432

H. Kawasaki, K. Nishimura

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引用次数: 40

摘要

提出了一种机械臂末端连杆参数估计方法。在终端链路参数未知的情况下，估计方程是线性的。这些未知参数的估计使用仪器变量法(IVM)。理论和实验都证明了IVM渐近地产生一致的估计。在k=5时，使用递归IVM估计具有六个自由度的机械臂的末端连杆参数所需的操作次数约为1800次乘法和1500次加法，其中k为采样数。>

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Terminal-link parameter estimation of robotic manipulators

The authors present a manipulator terminal-link parameter estimation method. The estimation equations are linear in the unknown terminal-link parameters. These unknown parameters are estimated using an instrument variable method (IVM). It is verified theoretically and experimentally that the IVM asymptotically yields consistent estimates. The number of operations required to estimate the terminal-link parameters of a manipulator having six degrees of freedom is about 1800 multiplications and 1500 additions using the recursive IVM at k=5, where k is the sampling number. >

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IEEE J. Robotics Autom.

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