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An Instrumental Variable Method for Robot Identification Based on Time Variable Parameter

Brunot, Mathieu; Janot, Alexandre; Young, Peter; Carrillo, Francisco

Description

This paper considers the data-based identification of industrial robots using an instrumental variable method that uses off-line estimation of the joint velocities and acceleration signals based only on the measurement of the joint positions. The usual approach to this problem relies on a `tailor-made' prefiltering procedure for estimating the derivatives that depends on good prior knowledge of the system's bandwidth. The paper describes an alternative Integrated Random Walk SMoothing (IRWSM)...[Show more]

CollectionsANU Research Publications
Date published: 2018
Type: Journal article
URI: http://hdl.handle.net/1885/160673
Source: Kybernetika
DOI: 10.14736/kyb-2018-1-0202

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