A revised Durbin-Wu-Hausman test for industrial robot identification
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- 作者：Alexandre Janota ; Alexandre.Janot@onera.fr" class="auth_mail" title="E-mail the corresponding author ; Pierre-Olivier Vandanjonb ; pierre-olivier.vandanjon@ifsttar.fr" class="auth_mail" title="E-mail the corresponding author ; Maxime Gautierc ; Maxime.Gautier@irccyn.ec-nantes.fr" class="auth_mail" title="E-mail the corresponding author
- 关键词：Robots identification ; Rigid robot dynamics ; Instrumental variable method ; Heteroskedasticity ; DWH-test ; Wald-statistic
- 刊名：Control Engineering Practice
- 出版年：2016
- 出版时间：March 2016
- 年：2016
- 卷：48
- 期：Complete
- 页码：52-62
- 全文大小：1118 K
文摘
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The Durbin-Wu-Hausman-test extended to identification of industrial robots.
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The Revised DWH-test based on general statistical assumptions.
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Validation/invalidation of the instruments constructed by the user.
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Validation/invalidation of the LS estimates.
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Experimental validation on a 6-DOF industrial robot.