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An efficient estimation algorithm for the model parameters of robotic manipulators

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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

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