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Dynamic Parameters Identification of Robotic Manipulator using Momentum

모멘텀을 이용한 로봇 동역학 파라미터 식별

  • Choi, Young-Jin (Hanyang University, ERICA Campus, Electronic Systems Engineering)
  • Received : 2012.05.19
  • Accepted : 2012.08.17
  • Published : 2012.08.31

Abstract

The paper presents a momentum-based regressor by using Hamiltonian dynamics representation for robotic manipulator. It has an advantage in that the proposed regressor does not require the acceleration measurement for the identification of dynamic parameters. Also, the identification algorithm is newly suggested by solving a minimization problem with constraint. The developed algorithm is easy to implement in real-time. Finally, the effectiveness of the proposed momentum-based regressor and identification method is shown through numerical simulations.

Acknowledgement

Supported by : 정보통신산업진흥원

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