A Base Force/Torque Sensor Approach to Robot Manipulator Inertial Parameter Estimation
1998 (English)In: 1998 IEEE International Conference on Robotics and Automation, 1998. Proceedings., Piscataway, NJ: IEEE Press, 1998, Vol. 4, p. 3316-3321Conference paper, Published paper (Refereed)
Abstract [en]
A practical method is proposed for estimating the inertial parameters of robot manipulators with substantial unmodeled joint friction and actuator dynamics. The manipulator is mounted on a six-axis force/torque sensor. Sensor measurements and joint velocities recorded during manipulator motion are used to identify the inertial parameters. The unmodeled joint friction and actuator dynamics do not degrade the estimation results, as in conventional methods. The estimation algorithm does not require difficult-to-measure acceleration measurements. Experimental results presented show that an accurate estimation of inertia parameters is attainable. Since the sensor is external to the manipulator, the same sensor can be used for parameter estimation for a number of different systems. @ IEEE 1998
Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Press, 1998. Vol. 4, p. 3316-3321
Series
IEEE International Conference on Robotics & Automation (ICRA), ISSN 1050-4729
Keywords [en]
Actuators, Force sensors, Friction, Manipulator dynamics, Motion measurement, Parameter estimation, Robot sensing systems, Sensor systems, Torque, Velocity measurement, friction, inertial systems, manipulator dynamics, parameter estimation, sensors, actuator dynamics, force sensor, inertial parameter estimation, joint friction, robot manipulator, torque sensor
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20826DOI: 10.1109/ROBOT.1998.680950ISI: 000074368900527Libris ID: 650910ISBN: 0-7803-4300-X ISBN: 0-7803-4301-8 OAI: oai:DiVA.org:hh-20826DiVA, id: diva2:586707
Conference
ICRA 1998, IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 16-20, 1998
Note
Financial support: The Korean Electric Power Research Institute (KEPRI), the Canadian Government, and the National Science Foundation
2013-01-122013-01-122018-03-22Bibliographically approved