Optimal Robot Excitation and Identification 参数最优辨识.pdfVIP

730 IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 13, NO. 5, OCTOBER 1997 Optimal Robot Excitation and Identification Jan Swevers, Chris Ganseman, Dilek Bilgin Tukel, Joris De Schutter, Member, IEEE , ¨ and Hendrik Van Brussel, Fellow, IEEE Abstract— This paper discusses experimental robot identifica- to stop the