A dynamic model of a robot with 3 rotational degrees of freedom is derived in closed form. A systematic procedure for estimation of model dynamic parameters is suggested. It consists of the following steps: (i) identification of friction model parameters for each joint; (ii) calculation of optimal exciting trajectories, required for estimation of the remaining dynamic model parameters; (iii) estimation of these parameters using a least-squares method. The estimated model satisfactory reconstructs experimental control signals, justifying its use in model-based nonlinear control.
|Title of host publication||Proceedings of the 40th IEEE Conference on Decision and Control, December 2001, Orlando|
|Place of Publication||Piscataway|
|Publisher||Institute of Electrical and Electronics Engineers|
|Publication status||Published - 2001|