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A learning scheme for the parameter identification of robot dynamics

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3 Author(s)
Ping-An Bao ; Dept. of Electr. Eng., Tongji Univ., Shanghai, China ; Ping Jiang ; Hui-Tang Chen

In this paper, a new identification method, called learning identification algorithm, of the model parameters of robot dynamics is proposed. This method has the following features: it does not require the exciting trajectory, and the measurements of joint accelerations and velocities. The method is demonstrated experimentally by estimating the dynamic parameters of a shaped glass cutting robot

Published in:

Industrial Technology, 1996. (ICIT '96), Proceedings of The IEEE International Conference on

Date of Conference:

2-6 Dec 1996