通过导数CESTAC方法验证参数识别技术

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI:10.1109/CIRA.2007.382898

N. Marcassus, P. Vandanjon, A. Janot, M. Gautier

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引用次数: 0

摘要

参数辨识就是对机器人系统的物理参数值进行估计。最常用的方法是使用最小二乘回归，因为它们简单。然而，我们知道这些技术本身并不健壮。另一种方法是证明LS技术的使用是合理的。本文针对这一问题，介绍了一种应用于6自由度串联机器人的CESTAC方法的推导。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Validation of a Parametric Identification Technique through a Derivative CESTAC Method

Parametric identification consists in estimating the values of physical parameters of robotic systems. The most popular methods consist in using the least squares regression because of their simplicity. However, we know that these techniques are not intrinsically robust. An alternative consists in justifying the use of the LS technique. This paper focuses on this issue and introduces a derivation of the CESTAC method which will be applied to a 6 degrees of freedom (DOF) serial robot.

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2007 International Symposium on Computational Intelligence in Robotics and Automation

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