Fast online impedance estimation for robot control

机译：用于机器人控制的快速在线阻抗估计

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In this paper a fast online estimation method of impedance parameters is proposed based on the forgetting factor recursive least squares identification method. The performance of the proposed method is accessed by simulation and robotic experiments. Comparing with existing methods, the proposed method shows fast tracking performance to parameter changes while achieving robustness to noise. The algorithm has been implemented to online robot control and can be generalized to meet other needs.

机译：提出了一种基于遗忘因子递归最小二乘辨识方法的阻抗参数在线快速估计方法。仿真和机器人实验都可以验证该方法的性能。与现有方法相比，所提出的方法表现出对参数变化的快速跟踪性能，同时实现了对噪声的鲁棒性。该算法已实现在线机器人控制，可以推广以满足其他需求。

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来源
《Mechatronics, 2009. ICM 2009》|2009年|1-6|共6页
会议地点 Malaga(ES);Malaga(ES)
作者
Zheng Wang; Peer A.; Buss M.;
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Inst. of Autom. Control Eng., Tech. Univ. Munchen, Munich;

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least squares approximations; manipulators; recursive functions; robust control; fast online impedance estimation; forgetting factor; recursive least square identification method; robot control; robot manipulator; robustness;

机译：最小二乘近似;机械手;递归函数;鲁棒控制;快速在线阻抗估计;遗忘因子;递归最小二乘辨识法;机器人控制;机器人操纵器;鲁棒性;

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Fast online impedance estimation for robot control

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