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Humanoid Robotics: A Reference pp 1–23Cite as

Calibration and Parameter Estimation

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Abstract

The geometric and inertial parameters of a robot are of crucial importance for the development of model-based control and validation of simulation results. These parameters are key parameters in the equations of motion. Most of the time, they are parameters provided by CAD data; however, experience has shown that CAD data are only a rough approximation of the true parameters because the CAD data do not take into account cables and small equipment, in addition the robot may be subject to several modifications and enhancements with time. This chapter describes the state of the art in kinematics calibration and dynamics identification for humanoid robots. After presenting the fundamental equations and the resolution of the problem, this chapter emphasizes the practical implementations to facilitate the identification and to guarantee a good accuracy of the results. In particular, this chapter emphasizes the three key aspects to perform accurate identification: (1) modeling; (2) generating motions for identification; (3) practical implementation. Experimental examples and results are used to illustrate their importance.

Keywords

  • Dynamics Identification
  • Kinematics Calibration
  • Least Squares
  • Base Parameters
  • Persistent Exciting Motions

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Author information

Authors and Affiliations

  1. Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Koganei, 184-8588, Tokyo, Japan

    Gentiane Venture

  2. CNRS-AIST JRL(Joint Robotics Laboratory), UMI3218/RL, Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, AIST Tsukuba Central 1, 1-1-1 Umezono, 305-8560, Tsukuba, Ibaraki, Japan

    Ko Ayusawa

Authors
  1. Gentiane Venture
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  2. Ko Ayusawa
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Corresponding author

Correspondence to Gentiane Venture .

Editor information

Editors and Affiliations

  1. Intuitive Surgical , Sunnyvale, California, USA

    Prof. Dr. Ambarish Goswami

  2. Singapore, Singapur, Singapore

    Prof. Dr. Prahlad Vadakkepat

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Venture, G., Ayusawa, K. (2017). Calibration and Parameter Estimation. In: Goswami, A., Vadakkepat, P. (eds) Humanoid Robotics: A Reference. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7194-9_6-1

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  • DOI: https://doi.org/10.1007/978-94-007-7194-9_6-1

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-7194-9

  • Online ISBN: 978-94-007-7194-9

  • eBook Packages: Springer Reference EngineeringReference Module Computer Science and Engineering

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