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Real time identification of robot dynamic parameters using parallel processing. 2. Implementation and testing

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2 Author(s)
H. Temeltas ; Dept. of Electr. & Electron. Eng., Nottingham Univ., UK ; G. M. Asher

The paper implements and demonstrates a parallel recursive estimator for the real-time identification of dynamic parameters for a general n-link high performance robot. The implementation entails the use of a parallel processor platform which includes the real-time simulation of the forward dynamics of the robot. The parallel estimator is first tested for parameter convergence using PBRS test signals and then tested in a closed loop robot control environment. A case study is presented showing the real-time convergence of the dynamic parameters following the application of a payload

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IEE Proceedings - Control Theory and Applications  (Volume:142 ,  Issue: 4 )