Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
5002503 | IFAC-PapersOnLine | 2016 | 6 Pages |
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.
Keywords
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Mathieu Brunot, Alexandre Janot, Francisco Carrillo, Maxime Gautier,