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State Space Estimation Method for Robot Identification

Brunot, Mathieu and Janot, Alexandre and Carrillo, Francisco Javier and Gautier, Maxime State Space Estimation Method for Robot Identification. (2016) In: 7th IFAC Symposium on Mechatronic Systems, 5 September 2016 - 8 September 2016 (Loughborough University, United Kingdom).

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Official URL: http://dx.doi.org/10.1016/j.ifacol.2016.10.555

Abstract

In this paper, we study the identification of robot dynamic models. The usual technique, based on the Least-Squares method, is carefully detailed. A new procedure based on Kalman filtering and fixed interval smoothing is developed. This new technique is compared to usual one with simulated and experimental data. The obtained results show that the proposed technique is a credible alternative, especially if the system bandwidth is unknown.

Item Type:Conference or Workshop Item (Paper)
Additional Information:Thanks to Elsevier editor. The definitive version is available at http://www.sciencedirect.com
HAL Id:hal-01529166
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Other partners > Ecole Centrale de Nantes (FRANCE)
Other partners > Ecole des Mines de Nantes (FRANCE)
Université de Toulouse > Institut National Polytechnique de Toulouse - INPT (FRANCE)
French research institutions > Office National d'Etudes et Recherches Aérospatiales - ONERA (FRANCE)
Other partners > Université de Nantes (FRANCE)
Other partners > Université Nantes Angers Le Mans - UNAM (FRANCE)
Laboratory name:
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Deposited By: Mathieu Brunot
Deposited On:30 May 2017 10:04

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