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Geometrical Parameter Estimation for Industrial Manipulators Using Two-step Estimation Schemes

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Abstract

This paper proposes a new solution for estimating the kinematic parameters of a manipulator, using a two-step linear estimator. The estimator is based on the recursive least-squares (RLS) method. The main characteristics of the method are that one singularity in estimation is overcome and parameters estimates approach the true values more quickly and smoothly than for algorithms using a one-step estimator. The algorithm can be applied for the estimation of parameters of both serial-link robots and robots having a kinematic closed-loop. Simulation results are given, comparing the proposed method with conventional approaches.

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Authors and Affiliations

  1. Faculty of Electrical Engineering, Patre 5, 78000 Banja Luka, Republic Srpska, BH

    Petar Marić

  2. Faculty of Electrical Engineering, Bulevar Revolucije 73, 11000, Belgrade, Yugoslavia

    Veljko Potkonjak

Authors
  1. Petar Marić
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  2. Veljko Potkonjak
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Marić, P., Potkonjak, V. Geometrical Parameter Estimation for Industrial Manipulators Using Two-step Estimation Schemes. Journal of Intelligent and Robotic Systems 24, 89–97 (1999). https://doi.org/10.1023/A:1008025501030

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  • DOI: https://doi.org/10.1023/A:1008025501030

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