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A Procedure for Identification of Friction Parameters in Constrained Robots
Author(s) -
Fenili A.,
Schäfer B.
Publication year - 2003
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.200310435
Subject(s) - identification (biology) , robot , robotic spacecraft , robotics , artificial intelligence , space (punctuation) , computer science , control theory (sociology) , computer vision , control engineering , engineering , control (management) , botany , biology , operating system
Precise manipulation of objects in space by robotics requires the knowledge of contact parameters. These physical parameters change with outer space environmental impacts. On‐orbit experiments for in situ parameters identification are being prepared, and a simplified problem regarding the identification of friction coefficients is addressed in this paper. The development of a reliable contact model, that includes a complete knowledge about the robot parameters is adressed here. The parameters identification is based on a least square algorithm.