Robust Estimation for an Extended Dynamic Parameter Set of Serial Manipulators and Unmodeled Dynamics Compensation

Advanced robotic applications have revived interest in identification of a high-precision dynamic model. In this article, we propose an extended dynamic parameter set (EDS). The EDS breaks through the limitation that the base dynamic parameter set needs a priori knowledge of the gravity direction for modeling. Moreover, we present a novel parameters identification technique (RSIH), which is...