Dynamic Parameter Estimation Utilizing Optimized Trajectories
Argtim Tika,Jonas Ulmen,Naim Bajcinca,Argtim Tika,Jonas Ulmen,Naim Bajcinca
We suggest a procedure for dynamic parameter estimation of serial robot manipulators. Its basic idea relies on the synthesis of an optimal manipulation trajectory, which is based on properly introduced parameter aggregates to ensure a collection of numerically well-conditioned data-sets, yielding an accurate computation of parameter estimates. The optimal trajectory itself is computed by using a m...
