Abstract
This paper considers the estimation of rigid body parameters of a stiff robot in a practical and complete fashion. A suitable procedure is proposed to arrive at a minimal set of estimated parameters, starting from a conceptual model of the robot. Four phases can be distinghuished: 1) Modelling, to find a minimal, linear parameterization of the nonlinear rigid body model; 2) Experiment design, to find a sufficiently exciting trajectory to have good parameter identifiability; 3) Data collection and filtering and finally 4) Calculation of the parameters, based on the obtained signals. The whole procedure is explained and tested on the basis of an actual problem, i.e. the estimation of the rigid body parameters of an experimental hydraulic manipulator arm, with use of standard PC-software.
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