Robot Dynamics Identification: A Reproducible Comparison With Experiments on the Kinova Jaco
Giacomo Golluccio, Giuseppe Gillini, Alessandro Marino, Gianluca Antonelli
Abstract
Identifying the dynamic parameters of robots is a longstanding topic in robot control, and, recently, research in the area witnessed a renewal of activity. This is motivated by the high performance required for model-based control of, for example, legged or surgical robots and the need to obtain realistic simulations of such systems.
Topics & Concepts
RobotIdentification (biology)Computer scienceDynamics (music)Control engineeringMobile robotArtificial intelligenceRobot controlSimulationEngineeringPhysicsAcousticsBiologyBotanyRobotic Locomotion and ControlRobotic Mechanisms and DynamicsRobot Manipulation and Learning