로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제7권3호
  • /
  • Pages.222-230
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  • 2012
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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모멘텀을 이용한 로봇 동역학 파라미터 식별

Dynamic Parameters Identification of Robotic Manipulator using Momentum

  • Choi, Young-Jin (Hanyang University, ERICA Campus, Electronic Systems Engineering)
  • 투고 : 2012.05.19
  • 심사 : 2012.08.17
  • 발행 : 2012.08.31
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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.

키워드

참고문헌

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  3. http://ko.wikipedia.org/
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피인용 문헌

  1. 속도 오차 기반의 충돌 감지 알고리즘 vol.9, pp.2, 2012, https://doi.org/10.7746/jkros.2014.9.2.111