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• W2141093353 abstract "This paper investigates and demonstrates the feasibility of identifying contact dynamics parameters for <i xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>stiff</i> <i xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>robotic</i> <i xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>payloads</i> using a robotic system. The contact dynamics model for stiff payloads is motivated, and theoretical parameter values and bounds are provided. Then, the effect of nonidealities such as surface roughness and plastic deformation on the theoretical values is demonstrated. A row-wise-scaled total least-squares parameter estimation algorithm is proposed and applied to experimental data measured using the special purpose dexterous manipulator task verification facility manipulator at the Canadian Space Agency. The experimental results are compared to a separate set of experiments with a material testing machine as well as finite-element modeling results. Finally, the experimental findings are generalized by providing guidelines for the maximum identifiable payload stiffness as a function of the position resolution, the maximum exertable force, and the structural stiffness of the robotic system." @default.
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• W2141093353 date "2009-04-01" @default.
• W2141093353 modified "2023-09-23" @default.
• W2141093353 title "Identification of Contact Dynamics Parameters for Stiff Robotic Payloads" @default.
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• W2141093353 doi "https://doi.org/10.1109/tro.2009.2014126" @default.
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