Recursive Identification of Physical Parameters in a Flexible Robot Arm
2002 (English)In: Proceedings of the 4th Asian Control Conference, 2002Conference paper (Refereed)
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
Robotics, Recursive identification, Physical parameters
Engineering and Technology Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-91147ISBN: 9789810464400OAI: oai:DiVA.org:liu-91147DiVA: diva2:617586
4th Asian Control Conference, Singapore, Singapore, September, 2002