Identification of manipulators based on task space measurement

Mahboubeh Keyvanara, Mohammad Jafar Sadigh

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

Samenvatting

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.
Originele taal-2Engels
Titel2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)
UitgeverijInstitute of Electrical and Electronics Engineers
Aantal pagina's6
ISBN van elektronische versie978-1-5090-3549-6
DOI's
StatusGepubliceerd - 2 feb 2017
Extern gepubliceerdJa
Evenement14th International Conference on Control, Automation, Robotics and Vision (ICARCV 2016) - Phuket, Thailand
Duur: 13 nov 201615 nov 2016
Congresnummer: 14
http://icarcv.org/2016/home.asp

Congres

Congres14th International Conference on Control, Automation, Robotics and Vision (ICARCV 2016)
Verkorte titelICARCV 2016
Land/RegioThailand
StadPhuket
Periode13/11/1615/11/16
Internet adres

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