Task scheduling method for HRC workplaces based on capabilities and execution time assumptions for robots

Numerical Aspects regarding the A-priori Fisher Information of Nonlinear Models for Hydraulic Servo-Systems

Categories Konferenz
Year 2010
Authors Dietrich, F.; Raatz, A.; Hesselbach, J.
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2010, Taipei, Taiwan, 2010, CD

This article adresses aspects of the a-priori computation of the Fisher information matrix. The aim of the type of Fisher matrix discussed is the experiment design for parameter estimation of nonlinear state space models. A definition for the sampling of experiments is stated, which is convenient for software implementation. Both, measurement samples that belong to a coherent sequence emph{and} samples from independent experiments, may be stored together in one single data structure. Since the covariance matrix of the prediction error is required in the Fisher matrix, a method for its a-priori prediction is proposed. A servo-hydraulic positioning system serves as a validation example. The comparison of the a-priori and a-posteriori Fisher matrices of this example show that the method proposed is suitable to provide an approximation of an optimality criterion for experiment design.

ISBN 978-1-4244-6676-4
ISSN 2153-0866
DOI 10.1109/IROS.2010.5650398
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