Proceedings of the IEEK Conference (대한전자공학회:학술대회논문집)

The Institute of Electronics and Information Engineers (대한전자공학회)
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Research for experimental methods of mechanical parameters estimation of the mobile robots

로봇의 기구학적 계수 추정을 위한 실험적 방법에 대한 연구

  • 최종미 (충남대학 메카트로닉스공학과) ;
  • 박중언 (충남대학 메카트로닉스공학과) ;
  • 이지홍 (충남대학 BK21 메카트로닉스 사업단) ;
  • 김지용 (충남대학 BK21 메카트로닉스 사업단)
  • Published : 2009.05.07
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Abstract

In this paper, we handle automatic estimation of mechanical parameters for mobile robots. Most estimation methods are based on the sequence and move-measurement-estimation. Estimated accuracy is largely dependent on the paths. Mathematical conditions minimizing estimation errors are derived, and then a method finding optimal paths for mechanical parameters estimation is proposed.

Keywords