A novel method to identify DH parameters of the rigid serial-link robot based on a geometry model.
Tao ZhangYuntao SongHuapeng WuQi WangPublished in: Ind. Robot (2021)
Keyphrases
- sensitivity analysis
- probabilistic model
- mathematical model
- input data
- parameter estimation
- similarity measure
- objective function
- parameter space
- linear model
- geometric constraints
- statistical model
- theoretical analysis
- maximum likelihood estimation
- cost function
- evaluation method
- modeling method
- bp neural network
- em algorithm
- classification method
- calibration method
- prior knowledge
- linear regression
- prediction model
- parameter values
- initial estimates
- kinematic model
- gaussian mixture
- autoregressive
- three dimensional
- gaussian distribution
- probability density function
- optimization method
- closed form
- prior information
- transfer function
- fuzzy inference system
- topological information
- parameters estimation
- energy function
- maximum likelihood