The problem of estimating some unknown parameters of a robot manipulator is considered. A novel technique is proposed which derives from the observer theory for nonlinear system, for the estimation of elastic-robots parameters. This asymptotic estimator technique is designed in such a way that, by suitably choosing some coefficients, errors among the true and the estimated values of the parameters tend to zero with the desired speeds. It is shown how the asymptotic estimator design can be reduced to the construction of an observer. An asymptotic estimator is derived for a class of nonlinear systems to which the elastic robots belong. Simulation tests prove the effectiveness of the proposed method.
Nicosia, S., Tornambe, A. (1988). New method for the parameter estimation of elastic robots. In Proceedings of the 1988 IEEE International Conference on Systems, Man, and Cybernetics (pp.357-360). IEEE [10.1109/ICSMC.1988.754313].
New method for the parameter estimation of elastic robots
Nicosia, Salvatore;Tornambe, Antonio
1988-01-01
Abstract
The problem of estimating some unknown parameters of a robot manipulator is considered. A novel technique is proposed which derives from the observer theory for nonlinear system, for the estimation of elastic-robots parameters. This asymptotic estimator technique is designed in such a way that, by suitably choosing some coefficients, errors among the true and the estimated values of the parameters tend to zero with the desired speeds. It is shown how the asymptotic estimator design can be reduced to the construction of an observer. An asymptotic estimator is derived for a class of nonlinear systems to which the elastic robots belong. Simulation tests prove the effectiveness of the proposed method.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
