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

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

Published in:

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

Date of Publication:

Jul 1995

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