Abstract:Purpose
This study aims to propose a novel method based on model learning with sparsity inducing norms for estimating dynamic gravity terms of the serial manipulators. This method is realized by operating the robot, acquiring data and filtering the features in signal acquisition to adapt to the dynamic gravity parameters.
Design/methodology/approach
The core principle of the method is to analyze the dictionary composition of the basis function of the model based on the dynamic equation and the Jacobian matri… Show more
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