PARAMETER IDENTIFICATION FOR ROBOTS WITH A FAST AND ROBUST TRAJECTORY DESIGN APPROACH

摘要

Parameter estimation method of the robot through the trajectory design in accordance with one embodiment, signal processing for collecting the position data or the torque data of the robot (S110), reduces the noise of the collection to improve the accuracy of the data collected data step (S120), the method comprising the dynamic estimation model of the robot (S130), using the least squares parameter estimation with the results obtained from the dynamic estimation model made to a step (S140) for optimizing the trajectory is used to estimate kinetic parameters for the robot can.;