| Martin M. Olsen The
Maersk Mc-Kinney Moller Institute for Production Technology, SDU, Odense
University, Campusvej 55, DK-5230 Odense Denmark , Jan Swevers
and Walter Verdonck Division Production Engineering, Machine Design
and Automation (PMA), Katholieke Universiteit Leuven, Celestijnenlaan 300B,
B-3001 Hevelee, Belgium |
| This paper considers the practical
implementation of a new maximum likelihood robot identification method,
developed by Olsen and Petersen. In particular, the practical issue concerning
the estimation of the joint velocities and accelerations from joint angle
measurements, and its consequence on the parameter estimation and accu-racy,
is considered. Simulation and experimental results on a KUKA IR 361 industrial
robot are discussed, and compared with models obtained using a much simpler
weighted least squares method. |
