Author Type

Graduate Student

Date of Award

1992

Document Type

Thesis

Publication Status

Version of Record

Submission Date

October 2026

Thesis/Dissertation Advisor [Chair]

Roth, Zvi S.

Thesis/Dissertation Co-Chair

Zilouchian, Ali

Abstract

The dissertation focuses on robot manipulator dynamic modeling, and inertial and kinematic parameters identification problem. An automatic dynamic parameters derivation symbolic algorithm is presented. This algorithm provides the linearly independent dynamic parameters set. It is shown that all the dynamic parameters are identifiable when the trajectory is persistently exciting. The parameters set satisfies the necessary condition of finding a persistently exciting trajectory. Since in practice the system data matrix is corrupted with noise, conventional estimation methods do not converge to the true values. An error bound is given for Kalman filters. Total least squares method is introduced to obtain unbiased estimates. Simulations studies are presented for five particular identification methods. The simulations are performed under different noise levels. Observability problems for the inertial and kinematic parameters are investigated. U%wer certain conditions all L%wearly Independent Parameters derived from are observable. The inertial and kinematic parameters can be categorized into three parts according to their influences on the system dynamics. The dissertation gives an algorithm to classify these parameters.

Extent

244 p.

Comments

College of Engineering and Computer Science|FAU Electronic Theses and Dissertations Collection|Thesis (Ph.D.)--Florida Atlantic University, 1992.|College of Engineering and Computer Science

Identifier

FADT12291

Format

pdf

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