OPTIMAL EXCITING TRAJECTORIES FOR ROBOT DYNAMICS IDENTIFICATION

摘要

in this study we discuss different techniques to find an optimal trajectory for the purpose of identification of an inertial parameters of robot. Two dynamical models have been introduced: differential and integral; both of them can be used to estimate the robot dynamic parameters in which they appear to be linear. Functions associated with the parameters are highly nonlinear which in general involve joint positions, velocities and accelerations. A standard sequential least squares technique has been used to estimate the unknown parameters. This method requires an, information matrix which has to be inverted. For particular joint signals this matrix is singular. In this paper we proposes to optimize the condition number of this matrix. This work illustrates the difficulty of maintaining persistent excitation during the experimental identification of complex models. [References: 6]