By Topic

An efficient estimation algorithm for the model parameters of robotic manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
In-Joong Ha ; Dept. of Control & Instrum. Eng., Seoul Nat. Univ., South Korea ; Myoung-Sam Ko ; Kwon, S.K.

An approach to identification of the model parameters of robotic manipulators is proposed in which neither prior knowledge of the geometric parameters nor restrictive robot motions are required. The number of the model parameters to be identified is minimized through a regrouping procedure for the Lagrangian functions of robotic manipulators. The identification model for the model parameters is formulated in an upper block triangular form. Based on these results, a computationally efficient estimation algorithm for the model parameters is obtained. To illustrate the practical use of the method, a four-degree-of-freedom SCARA robot is examined

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:5 ,  Issue: 3 )