Robust Least Square Estimation Of The CRS A465 Robot Arm's Dynamic Model Parameters
This paper presents the experimental estimation of the barycentric parameters of the CRS A465 robot arm. Three methods are used to estimate the barycentric parameters of the arm; ordinary least square method, weighted least squares method and iteratively reweighed least squares method. The estimatio...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English English |
| Published: |
Academic Journals
2012
|
| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/6602/ http://umpir.ump.edu.my/id/eprint/6602/1/Robust_least_square_estimation_of_the_CRS_A465_robot_arm%27s_dynamic_model_parameters.pdf http://umpir.ump.edu.my/id/eprint/6602/4/4.pdf |
| _version_ | 1848817812237189120 |
|---|---|
| author | Azeddien, Kinsheel Zahari, Taha Abdelhakim, Deboucha Tuan Mohammad Yusoff, Tuan Ya |
| author_facet | Azeddien, Kinsheel Zahari, Taha Abdelhakim, Deboucha Tuan Mohammad Yusoff, Tuan Ya |
| author_sort | Azeddien, Kinsheel |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | This paper presents the experimental estimation of the barycentric parameters of the CRS A465 robot arm. Three methods are used to estimate the barycentric parameters of the arm; ordinary least square method, weighted least squares method and iteratively reweighed least squares method. The estimation is carried out on the complete robot model and the simplified model where the effect of the product of inertia is ignored. The joints friction is represented by the standard friction model. The obtained results show how the identification methods and the model simplification affect the parameters estimation and joint torque prediction in real system identification. |
| first_indexed | 2025-11-15T01:27:43Z |
| format | Article |
| id | ump-6602 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-15T01:27:43Z |
| publishDate | 2012 |
| publisher | Academic Journals |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-66022018-01-22T00:48:21Z http://umpir.ump.edu.my/id/eprint/6602/ Robust Least Square Estimation Of The CRS A465 Robot Arm's Dynamic Model Parameters Azeddien, Kinsheel Zahari, Taha Abdelhakim, Deboucha Tuan Mohammad Yusoff, Tuan Ya TS Manufactures This paper presents the experimental estimation of the barycentric parameters of the CRS A465 robot arm. Three methods are used to estimate the barycentric parameters of the arm; ordinary least square method, weighted least squares method and iteratively reweighed least squares method. The estimation is carried out on the complete robot model and the simplified model where the effect of the product of inertia is ignored. The joints friction is represented by the standard friction model. The obtained results show how the identification methods and the model simplification affect the parameters estimation and joint torque prediction in real system identification. Academic Journals 2012 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/6602/1/Robust_least_square_estimation_of_the_CRS_A465_robot_arm%27s_dynamic_model_parameters.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/6602/4/4.pdf Azeddien, Kinsheel and Zahari, Taha and Abdelhakim, Deboucha and Tuan Mohammad Yusoff, Tuan Ya (2012) Robust Least Square Estimation Of The CRS A465 Robot Arm's Dynamic Model Parameters. Journal of Mechanical Engineering Research, 4 (3). pp. 89-99. ISSN 2141-2383. (Published) http://dx.doi.org/ 10.5897/JMER11.061 DOI: 10.5897/JMER11.061 |
| spellingShingle | TS Manufactures Azeddien, Kinsheel Zahari, Taha Abdelhakim, Deboucha Tuan Mohammad Yusoff, Tuan Ya Robust Least Square Estimation Of The CRS A465 Robot Arm's Dynamic Model Parameters |
| title | Robust Least Square Estimation Of The CRS A465 Robot Arm's Dynamic Model Parameters |
| title_full | Robust Least Square Estimation Of The CRS A465 Robot Arm's Dynamic Model Parameters |
| title_fullStr | Robust Least Square Estimation Of The CRS A465 Robot Arm's Dynamic Model Parameters |
| title_full_unstemmed | Robust Least Square Estimation Of The CRS A465 Robot Arm's Dynamic Model Parameters |
| title_short | Robust Least Square Estimation Of The CRS A465 Robot Arm's Dynamic Model Parameters |
| title_sort | robust least square estimation of the crs a465 robot arm's dynamic model parameters |
| topic | TS Manufactures |
| url | http://umpir.ump.edu.my/id/eprint/6602/ http://umpir.ump.edu.my/id/eprint/6602/ http://umpir.ump.edu.my/id/eprint/6602/ http://umpir.ump.edu.my/id/eprint/6602/1/Robust_least_square_estimation_of_the_CRS_A465_robot_arm%27s_dynamic_model_parameters.pdf http://umpir.ump.edu.my/id/eprint/6602/4/4.pdf |