Extracting Inertial Parameters from Robotic Manipulators Dynamics
Galia V. Tzvetkova

Galia V. Tzvetkova works in the field of robotics
Manuscript received on December 08, 2014. | Revised Manuscript received on December 15, 2014. | Manuscript published on January 05, 2014. | PP:76-80 | Volume-3 Issue-6, January 2014. | Retrieval Number: E1909113513/2014©BEIESP
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© The Authors. Published By: Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)

Abstract: The paper presents theoretical bases and simulation results of an identification procedure to estimate inertial parameters of robotic manipulator dynamics. A proximity function is introduced and used as an adjustment element for adaptation of the procedure. The convergence of the estimation process is tested experimentally. The numerical results are shown after computer simulations over numerous robot trajectories.
Keywords: Robot Parameters Identification, Recurssive estimation procedure