Model-based control of a direct drive arm. I. Building models

Abstract

Work on building robot models to be used in designing model-based controllers is described. Various algorithms are presented estimating the kinematic, link-inertial, and load-inertial parameters. It is shown experimentally that accurate estimates can be obtained automatically using sensor data taken during movement. The algorithms have been implemented on the MIT Serial Link Direct Drive Arm.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>