Closed-Loop Dynamic Parameter Identification of Robot Manipulators Using Modified Fourier Series
This paper concerns the problem of dynamic parameter identification of robot manipulators and proposes a closed-loop identification procedure using modified Fourier series (MFS) as exciting trajectories. First, a static continuous friction model is involved to model joint friction for realizable fri...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2012-05-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/45818 |