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Parameter estimation for excavator arm using generalized Newton method

Research output: Contribution to journalConference paper

Original languageEnglish
Pages (from-to)762 - 767
Number of pages6
JournalIEEE TRANSACTIONS ON ROBOTICS
Volume20
Issue number4
DOIs
Publication statusPublished - Aug 2004
Event20th IEEE International Conference on Robotics and Automation - TAIPEI, TAIWAN
Duration: 1 Jan 2004 → …

King's Authors

Abstract

A robust, fast, and simple technique for the experimental identification of the link parameters (mass, inertia, and length) and friction coefficients of a full-scale excavator arm is presented. This new technique, based on the generalized Newton method (GNM), estimates unknown individual parameters of the excavator arm dynamic equations. The technique can be used when the number of equations is different from the number of estimated variables. Using experimental data from a full-scale field Combat Engineer Excavator (CEE), the values of link parameters and friction coefficients are successfully identified. The identified parameters are compared with known values, and shown to be in agreement. The method is compared with the least square method, and shows that the GNM is better in terms of prediction accuracy and robustness to noise. Further, the joint positions predicted by the analytical model using the identified parameters are validated against different experimental trajectories, showing very good agreement. The experimental data was obtained in collaboration with QinetiQ Ltd. (Hampshire, U.K.). The technique presented in this paper is general and can be applied to any manipulator.

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