Identification of Dynamic Parameters for Rigid Robots based on Polynomial Approximation
Alexander Lomakin,Joachim Deutscher,Alexander Lomakin,Joachim Deutscher
In this paper an approach for the identification of the dynamic parameters, i.e. base parameters, of rigid robots is presented. By using the polynomial approximation operator, an equation is obtained for the identification of the parameters which solely depends on measurable signals and thereby contains no equation error. The resulting expressions can be evaluated online or offline by filtering th...
