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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.
2002 (English)Report (Other academic)
Abstract [en]

Recursive identification of physically parameterized models of continuous time systems is considered. As an example a model of a single link flexible robot arm is considered. The aim of the identification is to generate on-line estimates of physical parameters that can be used for, e.g., diagnosis purposes. For evaluation the algorithm is applied to data from an industrial robot, and three important parameters are identified using only measurements of the motor angle.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2002. , 7 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2431
Keyword [en]
Robotics, Recursive identification, Physical parameters
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-55682ISRN: LiTH-ISY-R-2431OAI: oai:DiVA.org:liu-55682DiVA: diva2:316386
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-08-21Bibliographically approved

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fulltext(278 kB)179 downloads
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Östring, MånsGunnarsson, Svante

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf