Parameter estimation of manipulator robot dynamics
Author(s)Susilo, Hans (Hans V.)
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science.
Russ L. Tedrake.
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We need better methods of dynamic parameter estimation because robots are becoming more complex and their interactions with the unmodeled world are becoming more frequent. These methods should be fast, reliable, and easily adaptable to various classes of robots. Here, we design and build a parameter estimation system in a robotic simulation and controls framework called Drake. The parameter estimation works by minimizing the error between a model and the observed data from a given trajectory. Using our estimator, we then compare the minimization of three types of errors, generated by the dynamics model, energetic model, and simulation model. We quantify the speed and performance of each algorithm on the Acrobot system.
Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2016.This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.Cataloged from student-submitted PDF version of thesis.Includes bibliographical references (pages 61-62).
DepartmentMassachusetts Institute of Technology. Department of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology
Electrical Engineering and Computer Science.