An instrumental variable method for robot identification based on time variable parameter estimation

Mathieu Brunot; Alexandre Janot; Peter Young; Francisco Carrillo

Kybernetika (2018)

  • Volume: 54, Issue: 1, page 202-220
  • ISSN: 0023-5954

Abstract

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This paper considers the data-based identification of industrial robots using an instrumental variable method that uses off-line estimation of the joint velocities and acceleration signals based only on the measurement of the joint positions. The usual approach to this problem relies on a ‘tailor-made’ prefiltering procedure for estimating the derivatives that depends on good prior knowledge of the system's bandwidth. The paper describes an alternative Integrated Random Walk SMoothing (IRWSM) method that is more robust to deficiencies in such a priori knowledge and exploits an optimal recursive algorithm based on a simple integrated random walk model and a Kalman filter with associated fixed interval smoothing. The resultant IDIM-IV instrumental variable method, using this approach to signal generation, is evaluated by its application to an industrial robot arm and comparison with previously proposed methods.

How to cite

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Brunot, Mathieu, et al. "An instrumental variable method for robot identification based on time variable parameter estimation." Kybernetika 54.1 (2018): 202-220. <http://eudml.org/doc/294502>.

@article{Brunot2018,
abstract = {This paper considers the data-based identification of industrial robots using an instrumental variable method that uses off-line estimation of the joint velocities and acceleration signals based only on the measurement of the joint positions. The usual approach to this problem relies on a ‘tailor-made’ prefiltering procedure for estimating the derivatives that depends on good prior knowledge of the system's bandwidth. The paper describes an alternative Integrated Random Walk SMoothing (IRWSM) method that is more robust to deficiencies in such a priori knowledge and exploits an optimal recursive algorithm based on a simple integrated random walk model and a Kalman filter with associated fixed interval smoothing. The resultant IDIM-IV instrumental variable method, using this approach to signal generation, is evaluated by its application to an industrial robot arm and comparison with previously proposed methods.},
author = {Brunot, Mathieu, Janot, Alexandre, Young, Peter, Carrillo, Francisco},
journal = {Kybernetika},
keywords = {industrial robot system; system identification; instrumental variable method; parameter estimation; Kalman filter; fixed interval smoothing},
language = {eng},
number = {1},
pages = {202-220},
publisher = {Institute of Information Theory and Automation AS CR},
title = {An instrumental variable method for robot identification based on time variable parameter estimation},
url = {http://eudml.org/doc/294502},
volume = {54},
year = {2018},
}

TY - JOUR
AU - Brunot, Mathieu
AU - Janot, Alexandre
AU - Young, Peter
AU - Carrillo, Francisco
TI - An instrumental variable method for robot identification based on time variable parameter estimation
JO - Kybernetika
PY - 2018
PB - Institute of Information Theory and Automation AS CR
VL - 54
IS - 1
SP - 202
EP - 220
AB - This paper considers the data-based identification of industrial robots using an instrumental variable method that uses off-line estimation of the joint velocities and acceleration signals based only on the measurement of the joint positions. The usual approach to this problem relies on a ‘tailor-made’ prefiltering procedure for estimating the derivatives that depends on good prior knowledge of the system's bandwidth. The paper describes an alternative Integrated Random Walk SMoothing (IRWSM) method that is more robust to deficiencies in such a priori knowledge and exploits an optimal recursive algorithm based on a simple integrated random walk model and a Kalman filter with associated fixed interval smoothing. The resultant IDIM-IV instrumental variable method, using this approach to signal generation, is evaluated by its application to an industrial robot arm and comparison with previously proposed methods.
LA - eng
KW - industrial robot system; system identification; instrumental variable method; parameter estimation; Kalman filter; fixed interval smoothing
UR - http://eudml.org/doc/294502
ER -

References

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