Sensitivity and error analysis of parameter identification for a class of industrial robots

Abstract

In this paper, the parameter identification problem of a class of industrial robots is investigated. An upper bound of sensitivity of the condition number of optimal exciting trajectories with respect to the variation of parameters is derived. A norm-type bound of estimation error of parameters is proposed. An illustrative example is given and some conclusions are obtained.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>