New criteria of exciting trajectories for robot identification

Presse, C.; Gautier, Maxime

doi:10.1109/robot.1993.292259

Cited by 101 publications

(82 citation statements)

References 5 publications

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“…The numerical method allows considering the grouping relations due to the poor excitation properties of the chosen identification trajectory. After determining the identifiable parameters, the Lagrange dynamic identification model (18) becomes…”

Section: ) Base Dynamic Parametersmentioning

confidence: 99%

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Modeling and Identification of Passenger Car Dynamics Using Robotics Formalism

Venture

Ripert

Khalil

et al. 2006

IEEE Trans. Intell. Transport. Syst.

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Abstract-This paper deals with the problem of dynamic modeling and identification of passenger cars. It presents a new method that is based on robotics techniques for modeling and description of tree-structured multibody systems. This method enables us to systematically obtain the dynamic identification model, which is linear with respect to the dynamic parameters. The estimation of the parameters is carried out using a weighted least squares method. The identification is tested using vehicle dynamics simulation software used by the car manufacturer PSA Peugeot-Citroën in order to define a set of trajectories with good excitation properties and to determine the number of degrees of freedom of the model. The method has then been used to estimate the dynamic parameters of an experimental Peugeot 406, which is equipped with different position, velocity, and force sensors.

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Section: ) Base Dynamic Parametersmentioning

confidence: 99%

“…The excitation criteria are based on the calculation of a function of the condition number of the observation matrix W of the linear system [18]. Trajectories with sufficient excitation are defined using the simulation software ARHMM [3].…”

Section: Choosing a Trajectory With Sufficient Excitationmentioning

confidence: 99%

Modeling and Identification of Passenger Car Dynamics Using Robotics Formalism

Venture

Ripert

Khalil

et al. 2006

IEEE Trans. Intell. Transport. Syst.

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“…Several approaches have been proposed (Armstrong, 1989;Gautier & Khalil, 1992;Presse & Gautier, 1993) in which the trajectory is parameterized. However, the finite Fourier series trajectory parameterization proposed by (Swevers et al, 1996) is the most widely implemented.…”

Section: Experiments Designmentioning

confidence: 99%

Dynamic Parameter Identification for Parallel Manipulators

Mata¹,

Farhat²,

Díaz‐Rodríguez³

et al. 2008

Parallel Manipulators, Towards New Applications

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“…, 6 are to be computed. The vector δ i shall maximize the information of the observations; to do this (Presse and Gautier, 1993) the Singular Value Decomposition (SVD) of the regressor Φ was considered and its condition number κ Φ computed so that the optimal parametrization of the exciting trajectory is given by:δ…”

Section: Generation Of the Robot Trajectoriesmentioning

confidence: 99%

Closed-Loop Rigid Model Identification of an Industrial Robot

Bona

Curatella

2005

IFAC Proceedings Volumes

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The identification process aimed at estimating the model parameters of a COMAU Smart S2 industrial robot for controller design purposes is presented. The principal challenges include the existence of a controller-in-the-loop and the absence of joint sensors for acceleration and velocity measurements. A method valid in this context has been applied, and suitable trajectories were generated to avoid the excitation of the unmodelled dynamics. This method was applied to an industrial robot, its parameters estimated and used for the design of a model-based controller.

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New criteria of exciting trajectories for robot identification

Cited by 101 publications

References 5 publications

Modeling and Identification of Passenger Car Dynamics Using Robotics Formalism

Modeling and Identification of Passenger Car Dynamics Using Robotics Formalism

Dynamic Parameter Identification for Parallel Manipulators

Closed-Loop Rigid Model Identification of an Industrial Robot

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