Dynamic Parameters Identification of Robotic Manipulator using Momentum
모멘텀을 이용한 로봇 동역학 파라미터 식별

Young-Jin Choi
2012 The Journal of Korea Robotics Society  
The paper presents a momentum-based regressor by using Hamiltonian dynamics representation for robotic manipulator. It has an advantage in that the proposed regressor does not require the acceleration measurement for the identification of dynamic parameters. Also, the identification algorithm is newly suggested by solving a minimization problem with constraint. The developed algorithm is easy to implement in real-time. Finally, the effectiveness of the proposed momentum-based regressor and
more » ... ification method is shown through numerical simulations.
doi:10.7746/jkros.2012.7.3.222 fatcat:y7wo6poxurgbdo5z4hsnkiy6eu