Parameter estimation of manipulator robot dynamics

We need better methods of dynamic parameter estimation because robots are becoming more complex and their interactions with the unmodeled world are becoming more frequent. These methods should be fast, reliable, and easily adaptable to various classes of robots. Here, we design and build a parameter estimation system in a robotic simulation and controls framework called Drake. The parameter estimation works by minimizing the error between a model and the observed data from a given trajectory. Using our estimator, we then compare the minimization of three types of errors, generated by the dynamics model, energetic model, and simulation model. We quantify the speed and performance of each algorithm on the Acrobot system.

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2016

Author dc:creator

• Susilo, Hans (Hans V.)

Advisor dc:contributor.advisor

• Russ L. Tedrake.

• Electrical Engineering and Computer Science.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/106380

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/106380