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Robust dynamic experimental identification of robots with set membership uncertainty

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2 Author(s)
N. Ramdani ; Centre d'Etude et Recherche en Thermique, Creteil, France ; P. Poignet

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.

Published in:

IEEE/ASME Transactions on Mechatronics  (Volume:10 ,  Issue: 2 )