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Computing a Manipulator Regressor Without Acceleration Feedback

Published online by Cambridge University Press:  09 March 2009

Jing Yuan  and
Yury Stepenanko
Jing Yuan
Affiliation:
Department of Mechanical Engineering, University of Victoria, Victoria, B.C. V8W 2Y 2 (Canada)
Yury Stepenanko
Affiliation:
Department of Mechanical Engineering, University of Victoria, Victoria, B.C. V8W 2Y 2 (Canada)
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Summary

A manipulator regressor is an n x l matrix function in the dynamic expression τ = Y r or τ = Wr, which linearizes the robotic dynamics with respect to a properly defined inertia parameter vector ζr є R1. Many modern adaptive controllers require on-line computation of a regressor to estimate the unknown inertia parameters and ensure robustness of the closed-loop system.

While the computation of Y is studied by Atkeson, An and Hollerbach1 and Khosla and Kanade,2 the computation of W for a general n–link robot has not been reported in the literature. This paper presents an algorithm to compute W for a general n–link robotic manipulator. The variables used to construct the regressor matrix are directly available from the outward iteration of a Newton-Euler algorithm; some additional arithmetic operations and first-order, low-pass filtering are needed. The identification of unknown inertia parameters is also discussed.

Keywords

Manipulator regressorRobot dynamicsInertia parametersAcceleration feedback

Information

Type
Article
Information
Robotica , Volume 10 , Issue 3 , May 1992 , pp. 269 - 275
Copyright
Copyright © Cambridge University Press 1992

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