Description
This paper addresses challenges of parameter estimation of an arbitrary object which is manipulated by an underactuated handling system. In the present scenario, a robot is extended with a passive orientation device. Since the passive joints are steered by energy control, knowledge of the inertial parameters of the gripped object must be obtained. For this purpose, an evaluation process is shown to find excitation inputs that are based on normal operation motion profiles. The general applicability of the excitation is then demonstrated along with an optimization to improve the excitation of the passive joints which yields a better estimation. Since it is difficult to obtain acceleration signals, the influence of their accuracy on the estimates is additionally illustrated. The article closes with the identification of future developments.
