Aiming at the problem of precision and real-time for robot motion parameters estimation

a nonlinear regression method for motion parameter estimation of robots is proposed. In this method

the nonlinear regressive motion parameter model for the robot is established

and the differential method is used to transform the motion parameter equation

the recursive least squares algorithm and the Kalman filter are used to estimate the motion parameters of the robot and eliminate the error. In addition

the estimations of the motion parameters of the robot in three special cases along the wall

toward the wall and the in-situ circular motion are discussed. The feasibility and effectiveness of the proposed method are verified by experiments and compared with the iterative closest point（ ICP） algorithm.