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- Publisher Website: 10.1109/ICMECH.2009.4957217
- Scopus: eid_2-s2.0-67650333086
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Conference Paper: Fast online impedance estimation for robot control
| Title | Fast online impedance estimation for robot control |
|---|---|
| Authors | |
| Issue Date | 2009 |
| Citation | IEEE 2009 International Conference on Mechatronics, ICM 2009, 2009 How to Cite? |
| Abstract | 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. © 2009 IEEE. |
| Persistent Identifier | http://hdl.handle.net/10722/199982 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Wang, Zheng | - |
| dc.contributor.author | Peer, Angelika | - |
| dc.contributor.author | Buss, Martin | - |
| dc.date.accessioned | 2014-07-26T23:10:59Z | - |
| dc.date.available | 2014-07-26T23:10:59Z | - |
| dc.date.issued | 2009 | - |
| dc.identifier.citation | IEEE 2009 International Conference on Mechatronics, ICM 2009, 2009 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/199982 | - |
| dc.description.abstract | 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. © 2009 IEEE. | - |
| dc.language | eng | - |
| dc.relation.ispartof | IEEE 2009 International Conference on Mechatronics, ICM 2009 | - |
| dc.title | Fast online impedance estimation for robot control | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/ICMECH.2009.4957217 | - |
| dc.identifier.scopus | eid_2-s2.0-67650333086 | - |