Geometrical parameter estimation for industrial manipulators using two-step estimation schemes

被引：5
|
作者：
Maric, P
Potkonjak, V
机构：
[1] Fac Elect Engn, Banja Luka 78000, Bosnia & Herceg
[2] Fac Elect Engn, YU-11000 Belgrade, Yugoslavia
来源：
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 1999年 / 24卷 / 01期
关键词：
robot; geometrical parameters; estimation;
D O I：
10.1023/A:1008025501030
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper proposes a new solution for estimating the kinematic parameters of a manipulator, using a two-step linear estimator. The estimator is based on the recursive least-squares (RLS) method. The main characteristics of the method are that one singularity in estimation is overcome and parameters estimates approach the true values more quickly and smoothly than for algorithms using a one-step estimator. The algorithm can be applied for the estimation of parameters of both serial-link robots and robots having a kinematic closed-loop. Simulation results are given, comparing the proposed method with conventional approaches.
引用
收藏
页码：89 / 97
页数：9
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