REAL-TIME IDENTIFICATION OF ROBOT - DYNAMIC PARAMETERS USING PARALLEL-PROCESSING .2. IMPLEMENTATION AND TESTING


TEMELTAS H. , ASHER G.

IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS, vol.142, no.4, pp.369-377, 1995 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 142 Issue: 4
  • Publication Date: 1995
  • Doi Number: 10.1049/ip-cta:19951972
  • Title of Journal : IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS
  • Page Numbers: pp.369-377

Abstract

The paper implements and demonstrates a parallel recursive estimator for the realtime identification of dynamic parameters for a general n-link high performance robot, The implementation entails the use of a parallel processor platform which includes the real-time simulation of the forward dynamics of the robot. The parallel estimator is first tested for parameter convergence using PRBS test signals and then tested in a closed loop robot control environment. A case study is presented showing the real-time convergence of the dynamic parameters following the application of a payload.