TY - GEN
T1 - Fast online impedance estimation for robot control
AU - Wang, Zheng
AU - Peer, Angelika
AU - Buss, Martin
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=67650333086&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2009.4957217
DO - 10.1109/ICMECH.2009.4957217
M3 - Conference contribution
AN - SCOPUS:67650333086
SN - 9781424441952
T3 - IEEE 2009 International Conference on Mechatronics, ICM 2009
BT - IEEE 2009 International Conference on Mechatronics, ICM 2009
T2 - IEEE 2009 International Conference on Mechatronics, ICM 2009
Y2 - 14 April 2009 through 17 April 2009
ER -