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题名: Interactive model identification for nonholonomic cart pushed by a mobile manipulator
作者: Sun, Yu ; Xi N(席宁) ; Tan JD(谈金东) ; Wang YC(王越超)
作者部门: 机器人学研究室
会议名称: 2002 IEEE International Conference on Robotics and Automation
会议日期: May 11-15, 2002
会议地点: Washington, DC
会议主办者: IEEE
会议录: Proceedings - IEEE International Conference on Robotics and Automation, v 4, , p 3966-3971
会议录出版者: IEEE
会议录出版地: New York
出版日期: 2002
页码: 3966-3971
收录类别: CPCI(ISTP) ; EI
ISSN号: 1050-4729
关键词: Force control ; Frequency domain analysis ; Kinematics ; Laser applications ; Least squares approximations ; Mathematical models ; Mobile robots ; Parameter estimation ; Range finders ; Sensors ; Statistical methods ; Torque control
摘要: A model identification method for unknown environments has been developed. By the interactions between a mobile manipulator and the unknown object, a nonholonomic cart, sensory information has been collected to estimate the model parameters of the cart, which are used to control the cart. Since the raw data are contaminated by noise they can not be modeled statistically, a wavelet based least square method is proposed to estimate these parameters for the cart. The raw signal has been decomposed into a certain bandwidth to generate a series of new signals, which are used to estimate the parameters. The new signal, which has the minimal estimation residual in least square sense is adopted as the best estimation. The error convergence of the estimation approach is given. The experimental results indicate that the estimation accuracy can be significantly improved by the use of the proposed method.
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内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/9212
Appears in Collections:机器人学研究室_会议论文

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