Identification of manipulators based on task space measurement

Mahboubeh Keyvanara, Mohammad Jafar Sadigh

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Abstract

Exact estimation of link length and joint position of human body is an important application in biomechanics, motion synthesis and analysis. Since human joint angles are not measureable, the starting point in studying this application is dealing with the identification of a robot based on task space measurement. The purpose of this study is to present a method to estimate robot joint parameters without the need of joint angles and by just using the position of certain points on robot's body. To this end a method based on recursively solving a linear least square optimization is presented and the link lengths of the robot are estimated. The method is then used to solve several illustrative examples to show versatility of the method.
Original languageEnglish
Title of host publication2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)
PublisherInstitute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)978-1-5090-3549-6
DOIs
Publication statusPublished - 2 Feb 2017
Externally publishedYes
Event14th International Conference on Control, Automation, Robotics and Vision (ICARCV 2016) - Phuket, Thailand
Duration: 13 Nov 201615 Nov 2016
Conference number: 14
http://icarcv.org/2016/home.asp

Conference

Conference14th International Conference on Control, Automation, Robotics and Vision (ICARCV 2016)
Abbreviated titleICARCV 2016
Country/TerritoryThailand
CityPhuket
Period13/11/1615/11/16
Internet address

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