TY - GEN
T1 - Metric based dynamic parameter identification for mobile field manipulator systems
AU - Sujan, Vivek A.
AU - Dubowsky, Steven
PY - 2002
Y1 - 2002
N2 - High performance robot control algorithms often rely on system physical models. For field robots, the dynamic parameters of these physical models may not be well known. This paper presents a new information based performance metric for the on-line dynamic parameter identification of a multi-body system. The metric is used in an algorithm to optimally regulate the external excitation required by the dynamic system identification proceeding. This algorithm is applied to identify the vehicle and suspension parameters of a mobile field manipulator. Issues addressed include the development of appropriate vehicle models (compatible with the onboard sensors), Kalman observer estimation of optimal parameter values, mutual information based observability (or identification) metric, and formulation of the manipulator exciting trajectory. Simulations and experimental results show the effectiveness of this algorithm.
AB - High performance robot control algorithms often rely on system physical models. For field robots, the dynamic parameters of these physical models may not be well known. This paper presents a new information based performance metric for the on-line dynamic parameter identification of a multi-body system. The metric is used in an algorithm to optimally regulate the external excitation required by the dynamic system identification proceeding. This algorithm is applied to identify the vehicle and suspension parameters of a mobile field manipulator. Issues addressed include the development of appropriate vehicle models (compatible with the onboard sensors), Kalman observer estimation of optimal parameter values, mutual information based observability (or identification) metric, and formulation of the manipulator exciting trajectory. Simulations and experimental results show the effectiveness of this algorithm.
UR - http://www.scopus.com/inward/record.url?scp=0036976746&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0036976746
SN - 0791836215
SN - 9780791836217
T3 - ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2002
SP - 1275
EP - 1282
BT - ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2002
T2 - ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2002
Y2 - 29 September 2002 through 2 October 2002
ER -