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모멘텀을 이용한 로봇 동역학 파라미터 식별Dynamic Parameters Identification of Robotic Manipulator using Momentum
- Other Titles
- Dynamic Parameters Identification of Robotic Manipulator using Momentum
- Authors
- 최영진
- Issue Date
- Sep-2012
- Publisher
- 한국로봇학회
- Keywords
- regressor; momentum; identification; manipulator
- Citation
- 로봇학회 논문지, v.7, no.3, pp 222 - 230
- Pages
- 9
- Indexed
- KCICANDI
- Journal Title
- 로봇학회 논문지
- Volume
- 7
- Number
- 3
- Start Page
- 222
- End Page
- 230
- ISSN
- 1975-6291
2287-3961
- Abstract
- 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 identification method is shown through numerical simulations.
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Related Researcher
- Choi, Youngjin
- ERICA 공학대학 (DEPARTMENT OF ROBOT ENGINEERING)