一种鲁棒辨识方法的分析与应用

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI:10.1109/CIRA.2007.382852

A. Janot, P. Vandanjon, M. Gautier, F. Khatounian

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引用次数: 2

摘要

参数识别需要良好的专业知识和准确的分析。最流行的方法是简单地使用最小二乘技术，因为它们很简单。然而，这些技术本身并不健壮。另一种选择是帮助他们进行适当的数据处理，而另一种选择是应用健壮的识别方法。本文重点分析了一种鲁棒方法“简单精炼工具变量法”。该方法将应用于CEA交互式机器人单元开发的单自由度主臂。

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Analysis and application of a robust identification method

Parametric identification requires a good know-how and an accurate analysis. The most popular methods consist in using simply the least squares techniques because of their simplicity. However, these techniques are not intrinsically robust. An alternative consists in helping them with an appropriate data treatment while another choice consists in applying a robust identification method. This paper focuses on an analysis of a robust method called "the simple refined instrumental variable method". This method will be applied to a single degree of freedom master arm developed by the CEA Interactive Robotic Unit.

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2007 International Symposium on Computational Intelligence in Robotics and Automation

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