대한전자공학회:학술대회논문집 (Proceedings of the IEEK Conference)
- 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
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- Pages.106-108
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- 2009
로봇의 기구학적 계수 추정을 위한 실험적 방법에 대한 연구
Research for experimental methods of mechanical parameters estimation of the mobile robots
초록
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.