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 so 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.
CITATION STYLE
Calafiore, G., & Indri, M. (2000). Robust calibration and control of robotic manipulators. In Proceedings of the American Control Conference (Vol. 3, pp. 2003–2007). IEEE. https://doi.org/10.1109/acc.2000.879552
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