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.
- Design Engineering Division and Computers and Information in Engineering Division
Metric Based Dynamic Parameter Identification for Mobile Field Manipulator Systems
- Views Icon Views
- Share Icon Share
- Search Site
Sujan, VA, & Dubowsky, S. "Metric Based Dynamic Parameter Identification for Mobile Field Manipulator Systems." Proceedings of the ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 5: 27th Biennial Mechanisms and Robotics Conference. Montreal, Quebec, Canada. September 29–October 2, 2002. pp. 1275-1282. ASME. https://doi.org/10.1115/DETC2002/MECH-34355
Download citation file: