Robust calibration and control of robotic manipulators

摘要

In this paper we present a robust approach for the estimation of the inertial parameters of a robotic manipulator. This approach takes into account the uncertainty in the regression model obtained via the Newton-Euler equations of the robot, and computes an ellipsoid of confidence for the unknown parameters using semidefinite programming (SDP). The obtained information is then exploited in a robust control scheme for the manipulator. Results relative to a two-link planar manipulator are included in the paper.