0433927 20240111140853.020141030235959.9 6 s. C cav_un_epca*0433926702-707Cancún, Quintana Roo, MéxicoAMCA2014 Parameter identifcation Mechanical systems Robotic manipulators cav_un_auth*0279330 Dolinský Kamil Teorie řízení Department of Control Theory TŘ TR UTIA-B Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0101074 Čelikovský Sergej Teorie řízení Department of Control Theory TŘ TR UTIA-B Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. textový dokument 437 kB GAP103/12/1794 GA ČR CZ cav_un_auth*0283207 This article presents a procedure that can be used to identify parameters of robotic manipulators that can be described by Euler-Lagrange equations of motion. This approach requires only measurements of angular position and torques acting in joints of the robot. To obtain smooth data for identication, angular measurements are smoothed by cubic splines. This allows analytical calculations of corresponding angular velocities and accelerations. Estimation of robot parameters can be then posed as an overdetermined linear problem. This approach is demonstrated on a simulation of a two-degree of freedom robotic manipulator. Results show that the procedure is much more robust compared to other classically used techniques while preserving high accuracy. cav_un_auth*0308746 Memorias del XVI Congreso Latinoamericano de Control Automático, CLCA 2014 Cancún, Quintana Roo, México Cancún, Quintana Roo 14.10.2014-17.10.2014 MX 2015 BC 2 PR RVO:67985556 http://hdl.handle.net/11104/0238112 cav_un_auth*0298829 České vysoké učení technické v Praze, Fakulta elektrotechnická CZ S 2014 textový dokument 437 kB cav_un_epca*0433926 Proceedings of the Memorias del XVI Congreso Latinoamericano de Control Automático, CLCA 2014 Cancún, Quintana Roo, México 702 707 Cancún, Quintana Roo, México AMCA 2014