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Recursive Identification of Physical Parameters in a Flexible Robot Arm
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2004 (English)In: Asian journal of control, ISSN 1561-8625, Vol. 6, 407-414 p.Article in journal (Refereed) Published
Abstract [en]

Recursive identification of a physically parameterized model of a single link flexible robot arm is considered. The parameters are estimated using a recursive prediction error method applied to a linear continuous time model structure and discrete time data. The algorithm is applied to real data from an industrial robot, and three important parameters are identified using only measurements of the motor angle. The experiments show that the particular parameter that is estimated will have big influence on the algorithm behavior.

Place, publisher, year, edition, pages
John Wiley & Sons, 2004. Vol. 6, 407-414 p.
Keyword [en]
Recursive identification, Robotics, Physical parameters
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-22493DOI: 10.1111/j.1934-6093.2004.tb00216.xLocal ID: 1741OAI: oai:DiVA.org:liu-22493DiVA: diva2:242806
Available from: 2009-10-07 Created: 2009-10-07 Last updated: 2013-07-17

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Gunnarsson, SvanteÖstring, Måns

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