Fourier-based optimal excitation trajectories for the dynamic identification of robots

摘要

This paper describes a new approach to the parameterization of robot excitation trajectories for optimal robot identification. The trajectory parameterization is based on a combined Fourier series and polynomial functions. The coefficients of the Fourier series are optimized for minimal sensitivity of the identification to measurement disturbances, which is measured as the d-optimality criterion, taking into account motion constraints in joint and Cartesian space. This parameterization satisfies both the guarantees of convergence by adding terms and the matching of the boundary conditions. Application of the method for the identification of the CRS A465 industrial robot proves the validity of the proposed approach.