Course Detail
Units:
3.0
Course Components:
Lecture
Enrollment Information
Enrollment Requirement:
Prerequisites: (ME EN 6220 AND ME EN 6225 AND Graduate Standing) OR Instructor Consent.
Description
Modeling and identification of the mechanical properties of robots and their environments. Review of probability and statistics. Parametric versus nonparametric estimation. Linear least squares parameter estimation, total least squares, and Kalman filters. Nonlinear estimation and extended Kalman filters. State estimation. Specific identification methods for kinematic calibration, inertial parameter estimation, and joint friction modeling.