Experimental Evaluation of Identification Schemes on a Direct Drive Robot

  • Authors:

  • Fernando Reyes;Rafael Kelly

  • Affiliations:

  • División de Física Aplicada, CICESE, Apdo. Postal 2615, Adm. 1, Carretera Tijuana-Ensenada Km. 107, Ensenada, B.C. 22800, Mexico. E-mail: freyez@cicese.mx;División de Física Aplicada, CICESE, Apdo. Postal 2615, Adm. 1, Carretera Tijuana-Ensenada Km. 107, Ensenada, B.C. 22800, Mexico. E-mail: rkelly@cicese.mx

  • Venue:
  • Robotica
  • Year:
  • 1997

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Abstract

This paper describes the experimental evaluation of three identification schemes to determine the dynamic parameters of a two degrees of freedom direct-drive robot. These schemes involve a recursive estimator while the regression models are formulated in continuous time. The fact that the total energy of robot manipulators can be represented as a linear relation in the inertial parameters, has motivated the suggestion in the literature of several regression models which are linear in a common dynamic parameter vector. Among them, in this paper we consider the schemes based on the filtered dynamic regression model, the supplied energy regression model and a new one proposed in this paper: the filtered power regression model. The underling recursive parameter estimator used in the experimental evaluation is the standard least-squares.