Nonlinear Gray-Box Identification of a Flexible Manipulator
2007 (English)In: Control Engineering Practice, ISSN 0967-0661Article in journal (Other academic) Published
A three-step procedure for time-domain nonlinear gray-box identification of an industrial manipulator containing flexibilities is studied. The aim of the first two steps is to obtain good initial values for the third prediction error minimization step. In the first step, rigid body dynamics and friction are identified using a separable least-squares method. In the second step, initial values for flexibilities are obtained using an inverse eigenvalue method. Finally, in the last step, the remaining parameters of a nonlinear graybox model are identified directly in the time domain using prediction error minimization.
Place, publisher, year, edition, pages
Optimization, Gray-box identification, Flexibility, Minimization, Parameter
IdentifiersURN: urn:nbn:se:liu:diva-12716OAI: oai:DiVA.org:liu-12716DiVA: diva2:16903