Publication: Research - peer-review › Article in proceedings – Annual report year: 2005
The paper presents a new method for online identification of pay-loads for a two-link flexible robot. The method benefits from the close corre-spondence between parameters of a discrete-time model represented by means of the Delta-Operator, and those of the underlying continuous-time model. Although the applied principle might be general in nature, the pa-per is applied to the well-known problem of identifying a pay-load of a moving flexible robot. This problem is almost impossible to solve by measurements, so an estimation technique must be applied. The presented method benefits from the close correspondence with the continuous-time representation to allow a scalar and implicit adaptive technique which based on flexibility measurements leads to the online estimation of the pay-load.
|Title||8th Internation Conference on Climbing and Walking Robots|
|Conference||8th Internation Conference on Climbing and Walking Robots (CLAWAR 2005)|
|Period||01/01/05 → …|
- Parameter Estimation, Adaptive Control, System Identification, Flexible Link Robot, Delta-Operator
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