ICRA 2012 Paper Abstract

Close

Paper WeA06.2

Rackl, Wolfgang (DLR - German Aerospace Center), Lampariello, Roberto (German Aerospace Center (DLR)), Hirzinger, Gerd (German Aerospace Center (DLR))

Robot Excitation Trajectories for Dynamic Parameter Estimation Using Optimized B-Splines

Scheduled for presentation during the Regular Session "Trajectory Planning and Generation" (WeA06), Wednesday, May 16, 2012, 08:45−09:00, Meeting Room 6 (Oya'te)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on November 18, 2017

Keywords Motion and Path Planning, Planning, Scheduling and Coordination, Industrial Robots

Abstract

In this paper we adressed the problem of finding exciting trajectories for the identification of manipulator link inertia parameters. This can be formulated as a constraint nonlinear optimization problem. The new approach in the presented method is the parameterization of the trajectories with optimized B-splines. Experiments are carried out on a 7 joint Light-Weight robot with torque sensoring in each joint. Thus, unmodeled joint friction and noisy motor current measurements must not be taken into account here. The estimated dynamic model is verified on a different validation trajectory. The results show a clearly improvement of the estimated dynamic model compared to a CAD-valued model.

 

 

Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2017 PaperCept, Inc.
Page generated 2017-11-18  19:11:05 PST  Terms of use