Maximum likelihood identification of a dynamic robot model: Implementation issues

被引：56

作者：

Olsen, MM

Swevers, J

Verdonck, W

机构：

[1] Univ So Denmark, Odense Univ, Maersk McKinney Moller Inst Prod Technol, DK-5230 Odense, Denmark

[2] Katholieke Univ Leuven, Div Prod Engn Machine Design & Automat, B-3001 Hevelee, Belgium

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 2002年 / 21卷 / 02期

关键词：

excitation trajectories; weighted least squares; maximum likelihood; robot dynamics;

D O I：

10.1177/027836402760475379

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper considers the practical implementation of a new maximum likelihood robot identification method, developed by Olsen and Petersen. In particular the practical issue concerning the estimation of the joint velocities and accelerations from joint angle measurements, and its consequence on the parameter estimation and accuracy, is considered. Simulation and experimental results on a KUKA IR 361 industrial robot are discussed, and compared with models obtained using a much simpler weighted least squares method.

引用

页码：89 / 96

页数：8

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