| 机器人重力参数辨识新方法 |
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| 引用本文： | 陈雪云,方华京.机器人重力参数辨识新方法[J].华中科技大学学报(自然科学版),1998(Z1). |
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| 作者姓名： | 陈雪云 方华京 |
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| 作者单位： | 华中理工大学自动控制工程系 |
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| 摘 要： | 将一类新型自适应观测器推广应用到机器人自适应状态观测器上，解决了机器人重力参数辨识的收敛性问题．
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| 关 键 词： | 机器人 自适应观测器 参数辨识 |
A New Method of Robot Parameter Identification |
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| Chen Xueyun Postgraduate, Dept. of Auto. Contr. Eng.,HUST,Wuhan ,China. Fang Huajing.A New Method of Robot Parameter Identification[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,1998(Z1). |
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| Authors: | Chen Xueyun Postgraduate Dept of Auto Contr Eng HUST Wuhan China Fang Huajing |
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| Institution: | Chen Xueyun Postgraduate, Dept. of Auto. Contr. Eng.,HUST,Wuhan 430074,China. Fang Huajing |
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| Abstract: | In the paper, the application of the new adaptive observer presented by R. Marino is extended to robot gravity parameter identification. The convergence problem of this nonlinear case is solved as R.Marino did for the filtered linear system. |
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| Keywords: | robot adaptive observers parameter identification |
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