Details
| Original language | English |
|---|---|
| Pages | 777-782 |
| Number of pages | 6 |
| Publication status | Published - 2005 |
| Event | 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 - Monterey, CA, United States Duration: 24 Jul 2005 → 28 Jul 2005 |
Conference
| Conference | 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 |
|---|---|
| Country/Territory | United States |
| City | Monterey, CA |
| Period | 24 Jul 2005 → 28 Jul 2005 |
Abstract
Model-based control of robotic manipulators necessitates accurately parameterized models. This issue is especially important for complex and coupled mechanisms like parallel manipulators. This paper provides a methodology that permits the estimation of model parameters in a time-inexpensive manner. Due to the limited workspace, a bounded and periodic excitation trajectory is advantageous. Only one measurement procedure is necessary for accurate identification, which is carried out by means of the Markov estimator. Rigid-body and friction models are identified and integrated in a feedforward control. The success, accuracy and robustness of the proposed methodology are substantiated with a multitude of experimental results.
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Software
- Computer Science(all)
- Computer Science Applications
- Engineering(all)
- Electrical and Electronic Engineering
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2005. 777-782 Paper presented at 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005, Monterey, CA, United States.
Research output: Contribution to conference › Paper › Research › peer review
}
TY - CONF
T1 - Time-effective direct dynamics identification of parallel manipulators for model-based feedforward control
AU - Abdellatif, H.
AU - Heimann, Bodo
AU - Holz, Christian
PY - 2005
Y1 - 2005
N2 - Model-based control of robotic manipulators necessitates accurately parameterized models. This issue is especially important for complex and coupled mechanisms like parallel manipulators. This paper provides a methodology that permits the estimation of model parameters in a time-inexpensive manner. Due to the limited workspace, a bounded and periodic excitation trajectory is advantageous. Only one measurement procedure is necessary for accurate identification, which is carried out by means of the Markov estimator. Rigid-body and friction models are identified and integrated in a feedforward control. The success, accuracy and robustness of the proposed methodology are substantiated with a multitude of experimental results.
AB - Model-based control of robotic manipulators necessitates accurately parameterized models. This issue is especially important for complex and coupled mechanisms like parallel manipulators. This paper provides a methodology that permits the estimation of model parameters in a time-inexpensive manner. Due to the limited workspace, a bounded and periodic excitation trajectory is advantageous. Only one measurement procedure is necessary for accurate identification, which is carried out by means of the Markov estimator. Rigid-body and friction models are identified and integrated in a feedforward control. The success, accuracy and robustness of the proposed methodology are substantiated with a multitude of experimental results.
UR - http://www.scopus.com/inward/record.url?scp=27644538898&partnerID=8YFLogxK
M3 - Paper
AN - SCOPUS:27644538898
SP - 777
EP - 782
T2 - 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005
Y2 - 24 July 2005 through 28 July 2005
ER -