{"title":"Fast online impedance estimation for robot control","authors":"Z. Wang, A. Peer, M. Buss","doi":"10.1109/ICMECH.2009.4957217","DOIUrl":null,"url":null,"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.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"71 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"29","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 IEEE International Conference on Mechatronics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICMECH.2009.4957217","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 29
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.
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