Industrial Robot Parameter Identification using a Constrained Instrumental Variable Method
Fabio Ardiani,Alexandre Janot,Mourad Benoussaad,Fabio Ardiani,Alexandre Janot,Mourad Benoussaad
Robot identification is a prolific topic that has a long history with results spanning recent decades. Recent years have witnessed a renew of interest in this problem due in part to a rapid increase in robotic hardware platforms capable of accurate model-based control. The most popular methods exploit the fact that the inverse dynamic model is linear to the dynamic parameters. Because we identify ...
