Fast online Impedance Estimation for Robot Control

被引：0
作者：
Wang, Zheng [1 ]
Peer, Angelika [1 ]
Buss, Martin [1 ]
机构：
[1] Tech Univ Munich, Inst Automat Control Engn, D-80290 Munich, Germany
来源：
2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS, VOLS 1 AND 2 | 2009年
关键词：
FORCE TRACKING; MANIPULATORS; PARAMETERS; SYSTEMS;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper a fast online estimation method of impedance parameters is proposed based on the forgetting factor recursive least squares identification method. The performance of the proposed method is accessed by simulation and robotic experiments. Comparing with existing methods, the proposed method shows fast tracking performance to parameter changes while achieving robustness to noise. The algorithm has been implemented to online robot control and can be generalized to meet other needs.
引用
收藏
页码：597 / 602
页数：6
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