Acceleration-Free Recursive Composite Learning Control of High-DoF Robot Manipulators

Zhu, Yuejiang; Shi, Tian; Li, Weibing; Pan, Yongping

doi:10.1109/cdc49753.2023.10384115

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2024

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Cited by 2 publications

References 22 publications

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Adaptive Robot Visual Tracking With Camera and Dynamic Parameter Convergence

Pan,

Zhang,

Lai

et al. 2024

2024 IEEE 22nd International Conference on Industrial Informatics (INDIN)

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Adaptive Robot Visual Tracking With Camera and Dynamic Parameter Convergence

Pan,

Zhang,

Lai

et al. 2024

2024 IEEE 22nd International Conference on Industrial Informatics (INDIN)

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A geometric characterization of observability in inertial parameter identification

Wensing,

Niemeyer,

Slotine

2024

The International Journal of Robotics Research

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This paper presents an algorithm to geometrically characterize inertial parameter identifiability for an articulated robot. The geometric approach tests identifiability across the infinite space of configurations using only a finite set of conditions and without approximation. It can be applied to general open-chain kinematic trees ranging from industrial manipulators to legged robots, and it is the first solution for this broad set of systems that is provably correct. The high-level operation of the algorithm is based on a key observation: Undetectable changes in inertial parameters can be represented as sequences of inertial transfers across the joints. Drawing on the exponential parameterization of rigid-body kinematics, undetectable inertial transfers are analyzed in terms of observability from linear systems theory. This analysis can be applied recursively, and lends an overall complexity of O( N) to characterize parameter identifiability for a system of N bodies. Matlab source code for the new algorithm is provided.

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Acceleration-Free Recursive Composite Learning Control of High-DoF Robot Manipulators

Cited by 2 publications

References 22 publications

Adaptive Robot Visual Tracking With Camera and Dynamic Parameter Convergence

Adaptive Robot Visual Tracking With Camera and Dynamic Parameter Convergence

A geometric characterization of observability in inertial parameter identification

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