Backward sequential approach for dynamic parameter identification of robot manipulators. (22nd February 2018)

• Record Type: Journal Article
• Authors: Jung, Dawoon; Cheong, Joono; Park, Dong Il; Park, Chanhun
• Is Part Of: International journal of advanced robotic systems. Volume 15:Number 1(2018:Jan./Feb.)
• Publication Date: 2018-02-22
• Subjects: Parameter identification -- non-minimal parameters -- robot manipulator -- robot dynamics; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881418758578
• Languages: English
• ISSNs: 1729-8806

Abstract

This article proposes a sequential optimization approach to efficiently identify non-minimal dynamic parameters of robot manipulators, possibly having large degrees of freedom. A back-substitution-based parameter identification from the last link to inward links is enabled due to the block upper triangular form of inherent regressor matrix. Starting with the dynamic model using the non-minimal parameters, we derive a generic compact formulation for the linear regression equation. We then establish a sequential optimization procedure taking into account physical feasibility of parameters. Numerical case examples demonstrate the validity of the proposed approach.