Archivio Istituzionale della RicercaIn this paper we present a robust approach for the estimation of the inertial parameters of a robotic manipulator. This approach takes into account the uncertainty in the regression model obtained via the Newton-Euler equations of the robot, and computes an ellipsoid of confidence for the unknown parameters using semidefinite programming (SDP). The obtained information is then exploited in a robust control scheme for the manipulator. Results relative to a two-link planar manipulator are included in the paper
Robust Calibration and Control of Robotic Manipulators / Calafiore, Giuseppe Carlo; Indri, Marina. - STAMPA. - 3:(2000), pp. 2003-2007. (Intervento presentato al convegno American Control Conference tenutosi a Chicago, IL nel 28-30 Jun 2000) [10.1109/ACC.2000.879552].
Robust Calibration and Control of Robotic Manipulators
CALAFIORE, Giuseppe Carlo;INDRI, Marina
2000
Abstract
In this paper we present a robust approach for the estimation of the inertial parameters of a robotic manipulator. This approach takes into account the uncertainty in the regression model obtained via the Newton-Euler equations of the robot, and computes an ellipsoid of confidence for the unknown parameters using semidefinite programming (SDP). The obtained information is then exploited in a robust control scheme for the manipulator. Results relative to a two-link planar manipulator are included in the paper
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https://hdl.handle.net/11583/1408987
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