Robust Least Square Estimation Of The CRS A465 Robot Arm's Dynamic Model Parameters

Robust Least Square Estimation Of The CRS A465 Robot Arm's Dynamic Model Parameters

This paper presents the experimental estimation of the barycentric parameters of the CRS A465 robot arm. Three methods are used to estimate the barycentric parameters of the arm; ordinary least square method, weighted least squares method and iteratively reweighed least squares method. The estimatio...

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Main Authors: Azeddien, Kinsheel, Zahari, Taha, Abdelhakim, Deboucha, Tuan Mohammad Yusoff, Tuan Ya
Format: Article
Language:English
English
Published: Academic Journals 2012
Subjects:
TS Manufactures
Online Access:http://umpir.ump.edu.my/id/eprint/6602/
http://umpir.ump.edu.my/id/eprint/6602/
http://umpir.ump.edu.my/id/eprint/6602/
http://umpir.ump.edu.my/id/eprint/6602/1/Robust_least_square_estimation_of_the_CRS_A465_robot_arm%27s_dynamic_model_parameters.pdf
http://umpir.ump.edu.my/id/eprint/6602/4/4.pdf
id ump-6602
recordtype eprints
spelling ump-66022018-01-22T00:48:21Z http://umpir.ump.edu.my/id/eprint/6602/ Robust Least Square Estimation Of The CRS A465 Robot Arm's Dynamic Model Parameters Azeddien, Kinsheel Zahari, Taha Abdelhakim, Deboucha Tuan Mohammad Yusoff, Tuan Ya TS Manufactures This paper presents the experimental estimation of the barycentric parameters of the CRS A465 robot arm. Three methods are used to estimate the barycentric parameters of the arm; ordinary least square method, weighted least squares method and iteratively reweighed least squares method. The estimation is carried out on the complete robot model and the simplified model where the effect of the product of inertia is ignored. The joints friction is represented by the standard friction model. The obtained results show how the identification methods and the model simplification affect the parameters estimation and joint torque prediction in real system identification. Academic Journals 2012 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/6602/1/Robust_least_square_estimation_of_the_CRS_A465_robot_arm%27s_dynamic_model_parameters.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/6602/4/4.pdf Azeddien, Kinsheel and Zahari, Taha and Abdelhakim, Deboucha and Tuan Mohammad Yusoff, Tuan Ya (2012) Robust Least Square Estimation Of The CRS A465 Robot Arm's Dynamic Model Parameters. Journal of Mechanical Engineering Research, 4 (3). pp. 89-99. ISSN 2141-2383 http://dx.doi.org/ 10.5897/JMER11.061 DOI: 10.5897/JMER11.061
repository_type Digital Repository
institution_category Local University
institution Universiti Malaysia Pahang
building UMP Institutional Repository
collection Online Access
language English
English
topic TS Manufactures
spellingShingle TS Manufactures
Azeddien, Kinsheel
Zahari, Taha
Abdelhakim, Deboucha
Tuan Mohammad Yusoff, Tuan Ya
Robust Least Square Estimation Of The CRS A465 Robot Arm's Dynamic Model Parameters
description This paper presents the experimental estimation of the barycentric parameters of the CRS A465 robot arm. Three methods are used to estimate the barycentric parameters of the arm; ordinary least square method, weighted least squares method and iteratively reweighed least squares method. The estimation is carried out on the complete robot model and the simplified model where the effect of the product of inertia is ignored. The joints friction is represented by the standard friction model. The obtained results show how the identification methods and the model simplification affect the parameters estimation and joint torque prediction in real system identification.
format Article
author Azeddien, Kinsheel
Zahari, Taha
Abdelhakim, Deboucha
Tuan Mohammad Yusoff, Tuan Ya
author_facet Azeddien, Kinsheel
Zahari, Taha
Abdelhakim, Deboucha
Tuan Mohammad Yusoff, Tuan Ya
author_sort Azeddien, Kinsheel
title Robust Least Square Estimation Of The CRS A465 Robot Arm's Dynamic Model Parameters
title_short Robust Least Square Estimation Of The CRS A465 Robot Arm's Dynamic Model Parameters
title_full Robust Least Square Estimation Of The CRS A465 Robot Arm's Dynamic Model Parameters
title_fullStr Robust Least Square Estimation Of The CRS A465 Robot Arm's Dynamic Model Parameters
title_full_unstemmed Robust Least Square Estimation Of The CRS A465 Robot Arm's Dynamic Model Parameters
title_sort robust least square estimation of the crs a465 robot arm's dynamic model parameters
publisher Academic Journals
publishDate 2012
url http://umpir.ump.edu.my/id/eprint/6602/
http://umpir.ump.edu.my/id/eprint/6602/
http://umpir.ump.edu.my/id/eprint/6602/
http://umpir.ump.edu.my/id/eprint/6602/1/Robust_least_square_estimation_of_the_CRS_A465_robot_arm%27s_dynamic_model_parameters.pdf
http://umpir.ump.edu.my/id/eprint/6602/4/4.pdf
first_indexed 2023-09-18T22:02:31Z
last_indexed 2023-09-18T22:02:31Z
_version_ 1777414492873818112

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