모멘텀을 이용한 로봇 동역학 파라미터 식별
Dynamic Parameters Identification of Robotic Manipulator using Momentum
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초록
The paper presents a momentum-based regressor by using Hamiltonian dynamics representation for robotic manipulator. It has an advantage in that the proposed regressor does not require the acceleration measurement for the identification of dynamic parameters. Also, the identification algorithm is newly suggested by solving a minimization problem with constraint. The developed algorithm is easy to implement in real-time. Finally, the effectiveness of the proposed momentum-based regressor and identification method is shown through numerical simulations.
Abstract
The paper presents a momentum-based regressor by using Hamiltonian dynamics representation for robotic manipulator. It has an advantage in that the proposed regressor does not require the acceleration measurement for the identification of dynamic parameters. Also, the identification algorithm is newly suggested by solving a minimization problem with constraint. The developed algorithm is easy to implement in real-time. Finally, the effectiveness of the proposed momentum-based regressor and identification method is shown through numerical simulations.
참고문헌 (9)
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- 정주노, "New Expressions of 2 x 2 Block Matrix Inversion and Their Application", IEEE Trans. Autom. Control, 54(11), pp.2648~2653, IEEE
- R. M. Rangayyan, "Biomedical Signal Analysis" (2002), Wiley
- 김석용, "패턴 매칭을 이용한 EKF 기반 이동 로봇 실내 위치 추정", 로봇학회 논문지, 7(1), pp.45~56 (2012), 한국로봇학회