Alexander Lomakin

2 accepted papers

2020

Algebraic Fault Detection and Identification for Rigid Robots

ICRA 2020poster

This paper presents a method for algebraic fault detection and identification of nonlinear mechanical systems, describing rigid robots, by using an approximation with orthonormal Jacobi polynomials. An explicit expression is derived for the fault from the equation of motion, which is decoupled from…

Cited by 9 Source ↗Scholar ↗

2020

Identification of Dynamic Parameters for Rigid Robots based on Polynomial Approximation

Alexander Lomakin, Joachim Deutscher

IROS 2020poster

In this paper an approach for the identification of the dynamic parameters, i.e. base parameters, of rigid robots is presented. By using the polynomial approximation operator, an equation is obtained for the identification of the parameters which solely depends on measurable signals and thereby cont…

Cited by 8 Source ↗Scholar ↗