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    Outline Final Proyect

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    api-586375444

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    Outline Final Proyect

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    api-586375444
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    outline final proyect

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    38 views1 page

    Outline Final Proyect

    Uploaded by

    api-586375444

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    of 1

    6.

    Model identification
    6.1. Overview
    6.1.1. Parametric models
    6.1.2. Nonparametric models
    6.2. Kinematic calibration  Geometric parameters
    6.2.1. Serial-Link Robot Manipulators
    6.2.1.1 Open- Loop Kinematic Calibration
    6.2.1.2 Closed-Loop Kinematic Calibration
    6.2.2. Parallel Manipulator Calibration
    6.2.2.1 Multiple closed loops
    6.3. Inertial Parameter Estimation  Predict driving forces and torques to move and
    manipulators
    6.3.1. Link Inertial Parameter Estimation
    6.3.1.1. Newton-Euler equations
    6.3.1.2. Estimating the parameters
    6.3.2. Load Inertial Parameter Estimation
    6.3.2.1 Using 6-Axis Forces/Torque Sensor
    6.3.2.2 Using Joint Torques
    6.3.3. Identification of Total Joining Drive Gains
    6.3.3.1. Using the Same Set of Trajectory Twice
    6.3.3.2. Using two sets of Trajectories
    6.3.4. Link Parameter Estimation for More Complex Structures
    6.3.4.1. Tree-Structured Robots
    6.3.4.2. Closed-Loop Robots
    6.3.4.3. Parallel Robots
    6.4. Identifiability and Numerical Conditioning
    6.4.1. Identifiability
    6.4.1.1. Structural and Prediction Model
    6.4.2. Observability
    6.4.3. Scaling
    6.4.3.1. Different Variables and Parameters of Scaling
    6.4.4. Recursive Least Squares and the Kalman Filter
    6.5. Conclusion

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