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Master Thesis Year : 2021

Development of a Dynamic Identification Toolbox for Anthropometric Systems

Abstract

The knowledge of dynamic parameters of robotic systems is essential to applications and re- search such as model-based controlling, simulating a robot, or planning motions. The dynamic identification process stands out as one of the most efficient and widely used method to esti- mate dynamic parameters. In this process, a dynamic model of a robot is created. Thanks to its linearity to dynamic parameters, an identification model is derived from the dynamic model. The identification model is applied to a sufficient data points obtained from specially defined trajectories in order to construct an over-determined linear system. Linear regression techniques such as least square estimation are utilized in order to identify dynamic parameters. Finally, the identified parameters must be validated by direct validation or cross validation. This thesis’s work aims to develop a standard open-source toolbox that provides all functions and methods of dynamic identification for robotic systems, in general, and for anthropometric systems, in particular.
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Dates and versions

hal-03371519 , version 1 (08-10-2021)
hal-03371519 , version 2 (18-10-2023)

Identifiers

  • HAL Id : hal-03371519 , version 2

Cite

Dinh Vinh Thanh Nguyen. Development of a Dynamic Identification Toolbox for Anthropometric Systems. Robotics [cs.RO]. 2021. ⟨hal-03371519v2⟩
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