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  • This article presents a procedure that can be used to identify parameters of robotic manipulators that can be described by Euler-Lagrange equations of motion. This approach requires only measurements of angular position and torques acting in joints of the robot. To obtain smooth data for identification, angular measurements are smoothed by cubic splines. This allows analytical calculations of corresponding angular velocities and accelerations. Estimation of robot parameters can be then posed as an overdetermined linear problem. This approach is demonstrated on a simulation of a two-degree of freedom robotic manipulator. Results show that the procedure is much more robust compared to other classically used techniques while preserving high accuracy.
  • This article presents a procedure that can be used to identify parameters of robotic manipulators that can be described by Euler-Lagrange equations of motion. This approach requires only measurements of angular position and torques acting in joints of the robot. To obtain smooth data for identification, angular measurements are smoothed by cubic splines. This allows analytical calculations of corresponding angular velocities and accelerations. Estimation of robot parameters can be then posed as an overdetermined linear problem. This approach is demonstrated on a simulation of a two-degree of freedom robotic manipulator. Results show that the procedure is much more robust compared to other classically used techniques while preserving high accuracy. (en)
Title
  • Splines smoothing assisted least-squares identification of robotic manipulators
  • Splines smoothing assisted least-squares identification of robotic manipulators (en)
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  • Splines smoothing assisted least-squares identification of robotic manipulators
  • Splines smoothing assisted least-squares identification of robotic manipulators (en)
skos:notation
  • RIV/68407700:21230/14:00221952!RIV15-GA0-21230___
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  • P(GAP103/12/1794)
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  • RIV/68407700:21230/14:00221952
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  • Parameter identification; Mechanical systems; Robotic manipulators (en)
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  • [B24B1F68BE92]
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  • Dolinský, Kamil
  • Čelikovský, Sergej
http://localhost/t...ganizacniJednotka
  • 21230
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