Extended Kalman filtering and weighted least squares dynamic identification of robot

被引：166

作者：

Gautier, M

Poignet, P

机构：

[1] CNRS, UMR 6597, Inst Rech Commun & Cybernet Nantes, F-44321 Nantes 03, France

[2] Lab Informat Robot & Microelect Montpellier, CNRS, UMR 5506, F-34392 Montpellier, France

来源：

CONTROL ENGINEERING PRACTICE | 2001年 / 9卷 / 12期

关键词：

identification; robot dynamics; Kalman filter; least squares estimation;

D O I：

10.1016/S0967-0661(01)00105-8

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents an experimental comparison between the weighted least squares (WLS) estimation and the extended Kalman filtering (EKF) methods for robot dynamic identification. Comparative results and discussion are presented for a SCARA robot, depending on a priori knowledge and data filtering. (C) 2001 Elsevier Science Ltd. All rights reserved.

引用

页码：1361 / 1372

页数：12

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