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An instrumental variable method for robot identification based on time variable parameter estimation

Brunot, Mathieu and Janot, Alexandre and Young, Peter C. and Carrillo, Francisco Javier An instrumental variable method for robot identification based on time variable parameter estimation. (2018) KYBERNETIKA, 54 (1). 202-220. ISSN 0023-5954

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Official URL: https://www.kybernetika.cz/content/2018/1/202

Abstract

This paper considers the data-based identification of industrial robots using an instrumental variable method that uses off-line estimation of the joint velocities and acceleration signals based only on the measurement of the joint positions. The usual approach to this problem relies on a ‘tailor-made’ prefiltering procedure for estimating the derivatives that depends on good prior knowledge of the system’s bandwidth. The paper describes an alternative Integrated Random Walk SMoothing (IRWSM) method that is more robust to deficiencies in such a priori knowledge and exploits an optimal recursive algorithm based on a simple integrated random walk model and a Kalman filter with associated fixed interval smoothing. The resultant IDIM-IV instrumental variable method, using this approach to signal generation, is evaluated by its application to an industrial robot arm and comparison with previously proposed methods.

Item Type:Article
Audience (journal):International peer-reviewed journal
Uncontrolled Keywords:
Institution:Other partners > Australian National University - ANU (AUSTRALIA)
Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
French research institutions > Office National d'Etudes et Recherches Aérospatiales - ONERA (FRANCE)
Other partners > Lancaster University (UNITED KINGDOM)
Laboratory name:
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Deposited On:26 Feb 2019 15:03

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