| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0433927 |
| utime |
20240111140853.0 |
| mtime |
20141030235959.9 |
| title
(primary) (eng) |
Splines smoothing assisted least-squares identification of robotic manipulators |
| specification |
| page_count |
6 s. |
| media_type |
C |
|
| serial |
| ARLID |
cav_un_epca*0433926 |
| title
|
Proceedings of the Memorias del XVI Congreso Latinoamericano de Control Automático, CLCA 2014 Cancún, Quintana Roo, México |
| page_num |
702-707 |
| publisher |
| place |
Cancún, Quintana Roo, México |
| name |
AMCA |
| year |
2014 |
|
|
| keyword |
Parameter identifcation |
| keyword |
Mechanical systems |
| keyword |
Robotic manipulators |
| author
(primary) |
| ARLID |
cav_un_auth*0279330 |
| name1 |
Dolinský |
| name2 |
Kamil |
| full_dept (cz) |
Teorie řízení |
| full_dept (eng) |
Department of Control Theory |
| department (cz) |
TŘ |
| department (eng) |
TR |
| institution |
UTIA-B |
| full_dept |
Department of Control Theory |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| author
|
| ARLID |
cav_un_auth*0101074 |
| name1 |
Čelikovský |
| name2 |
Sergej |
| full_dept (cz) |
Teorie řízení |
| full_dept |
Department of Control Theory |
| department (cz) |
TŘ |
| department |
TR |
| institution |
UTIA-B |
| full_dept |
Department of Control Theory |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| source |
| source_type |
textový dokument |
| source_size |
437 kB |
|
| cas_special |
| project |
| project_id |
GAP103/12/1794 |
| agency |
GA ČR |
| country |
CZ |
| ARLID |
cav_un_auth*0283207 |
|
| abstract
(eng) |
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. |
| action |
| ARLID |
cav_un_auth*0308746 |
| name |
Memorias del XVI Congreso Latinoamericano de Control Automático, CLCA 2014 Cancún, Quintana Roo, México |
| place |
Cancún, Quintana Roo |
| dates |
14.10.2014-17.10.2014 |
| country |
MX |
|
| reportyear |
2015 |
| RIV |
BC |
| num_of_auth |
2 |
| presentation_type |
PR |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0238112 |
| cooperation |
| ARLID |
cav_un_auth*0298829 |
| name |
České vysoké učení technické v Praze, Fakulta elektrotechnická |
| country |
CZ |
|
| confidential |
S |
| arlyear |
2014 |
| mrcbU56 |
textový dokument 437 kB |
| mrcbU63 |
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 |
|