Robust dynamic experimental identification of robots with set membership uncertainty

This paper focuses on robust dynamic identification of robots with set membership uncertainty. The error, taken additive on model output (input motor torque), is only assumed to be bounded. Three bounded-error recursive algorithms are implemented to outer-bound the solution parameter set with ellips...

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Bibliographic Details
Published inIEEE/ASME transactions on mechatronics Vol. 10; no. 2; pp. 253 - 256
Main Authors Ramdani, N., Poignet, P.
Format Journal Article
LanguageEnglish
Published New York IEEE 01.04.2005
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Institute of Electrical and Electronics Engineers
Subjects
Bounded error context
Computer Science
Degrees of freedom
Dynamics
ellipsoidal approximation
Ellipsoids
experimental robot dynamics
Frequency estimation
Inverse problems
Linear matrix inequalities
Mathematical analysis
Mathematical models
Maximum likelihood estimation
Motors
Noise measurement
parallelotopic approximation
Parameter estimation
Robots
Robustness
Samarium
set membership identification
Uncertainty
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Summary:This paper focuses on robust dynamic identification of robots with set membership uncertainty. The error, taken additive on model output (input motor torque), is only assumed to be bounded. Three bounded-error recursive algorithms are implemented to outer-bound the solution parameter set with ellipsoids or parallelotopes. Experimental results are presented for a two degrees-of-freedom SCARA robot.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2005.844703