Experimental comparison of parameter estimation methods in adaptive robot control


Berghuis, Harry and Roebbers, Herman and Nijmeijer, Henk (1995) Experimental comparison of parameter estimation methods in adaptive robot control. Automatica, 31 (9). pp. 1275-1285. ISSN 0005-1098

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Abstract:In the literature on adaptive robot control a large variety of parameter estimation methods have been proposed, ranging from tracking-error-driven gradient methods to combined tracking- and prediction-error-driven least-squares type adaptation methods. This paper presents experimental data from a comparative study between these adaptation methods, performed on a two-degrees-of-freedom robot manipulator. Our results show that the prediction error concept is sensitive to unavoidable model uncertainties. We also demonstrate empirically the fast convergence properties of least-squares adaptation relative to gradient approaches. However, in view of the noise sensitivity of the least-squares method, the marginal performance benefits, and the computational burden, we (cautiously) conclude that the tracking-error driven gradient method is preferred for parameter adaptation in robotic applications.
Item Type:Article
Copyright:© 1995 Elsevier Science
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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Link to this item:http://purl.utwente.nl/publications/14816
Official URL:http://dx.doi.org/10.1016/0005-1098(95)00046-Y
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