Geometrical Parameter Estimation for Industrial Manipulators Using Two-step Estimation Schemes

  • Authors:

  • Petar Marić/;Veljko Potkonjak

  • Affiliations:

  • Faculty of Electrical Engineering, Patre 5, 78000 Banja Luka, Republic Srpska, BH/ email: Email: pmaric@etf-bl.rstel.net;Faculty of Electrical Engineering, Bulevar Revolucije 73, 11000 Belgrade, Yugoslavia

  • Venue:
  • Journal of Intelligent and Robotic Systems
  • Year:
  • 1999

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Abstract

This paper proposes a new solution for estimating the kinematicparameters of a manipulator, using a two-step linear estimator. Theestimator is based on the recursive least-squares (RLS) method. The maincharacteristics of the method are that one singularity in estimation isovercome and parameters estimates approach the true values more quickly andsmoothly than for algorithms using a one-step estimator. The algorithm canbe applied for the estimation of parameters of both serial-link robots androbots having a kinematic closed-loop. Simulation results are given,comparing the proposed method with conventional approaches.