NDLI: A symbolic approach to determining exciting trajectories for identification of manipulator dynamic models

Content Provider	IEEE Xplore Digital Library
Author	Lucyshyn, R. Angeles, J.
Copyright Year	1993
Description	Author affiliation: Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada (Lucyshyn, R.; Angeles, J.)
Abstract	In experiments aimed at the identification of parameters in the dynamic model of a robotic manipulator, the use of a trajectory that excites the parameters so that the numerical estimation procedure is well-conditioned is important for an accurate estimation. This paper presents a new approach, based upon symbolic computations, to determine such "exciting trajectories". Herein, the concept of mutually productwise odd (MPO) functions is introduced, and the problem of determining an exciting trajectory is reformulated as one of rendering time histories of the regressor functions of the associated dynamic equation MPO. Parametrized joint-angle time histories whose parameters take on a discrete set of values form the search space of an algorithm that renders the regressor time histories MPO. The overall approach exploits the use of test motions to reduce the complexity of the search procedure. The approach is successfully applied to a three-link spatial manipulator, thereby showing how all required inertial parameters can be identified using exciting trajectories.
Starting Page	1684
Ending Page	1689
File Size	627516
Page Count	6
File Format	PDF
ISBN	0780308913
DOI	10.1109/IECON.1993.339327
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-11-15
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulator dynamics Equations History Testing Parameter estimation Mechanical engineering Intelligent robots Convergence Inertial confinement Torque
Content Type	Text
Resource Type	Article

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