This project was carried out under a cooperation with the Institute of Mathematical Modeling (IMM), DTU. Simulation and practice experiemnts were performed using a hydraulic robot. The obtained model was intended to provide a basis for model-based control f the robot. The physical model was formulated in continuous time and was derived by application of the laws of physics on the system. the unknown (or uncertain) parameters were estimated with Maximum Likelihood (ML) parameter estimation. The identified model was evaluated by comparing the measurments with simulation of the identified model.
|Effective start/end date||01/02/1996 → 31/12/1998|