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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]

dc.contributor.authorBrunot, Mathieu
dc.contributor.authorJanot, Alexandre
dc.contributor.authorYoung, Peter
dc.contributor.authorCarrillo, Francisco
dc.date.accessioned2019-04-29T00:13:31Z
dc.identifier.issn0023-5954
dc.identifier.urihttp://hdl.handle.net/1885/160673
dc.description.abstractThis 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) method that is more robust to deficiencies in such a priori knowledge and exploits an optimal recursive algorithm based on a simple integrated random walk model and a Kalman filter with associated fixed interval smoothing. The resultant IDIM-IV instrumental variable method, using this approach to signal generation, is evaluated by its application to an industrial robot arm and comparison with previously proposed methods.
dc.format.mimetypeapplication/pdf
dc.language.isoen_AU
dc.publisherThe Academy of Sciences of the Czech Republic
dc.rights© 2018
dc.sourceKybernetika
dc.titleAn Instrumental Variable Method for Robot Identification Based on Time Variable Parameter
dc.typeJournal article
local.description.notesImported from ARIES
local.identifier.citationvolume54
dc.date.issued2018
local.identifier.absfor090602 - Control Systems, Robotics and Automation
local.identifier.ariespublicationu4485658xPUB2469
local.type.statusPublished Version
local.contributor.affiliationBrunot, Mathieu, Office National d'Etudes et de Recherches Aérospatiales (ONERA)
local.contributor.affiliationJanot, Alexandre, ONERA
local.contributor.affiliationYoung, Peter C, College of Science, ANU
local.contributor.affiliationCarrillo, Francisco, ENIT Ecole Nationale d'Ingenieurs de Tarbes
local.description.embargo2037-12-31
local.bibliographicCitation.issue1
local.bibliographicCitation.startpage202
local.bibliographicCitation.lastpage220
local.identifier.doi10.14736/kyb-2018-1-0202
local.identifier.absseo970109 - Expanding Knowledge in Engineering
dc.date.updated2019-03-12T07:34:49Z
local.identifier.thomsonID000430527200012
CollectionsANU Research Publications

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