Abstract
This paper describes a case study of identifying the physical
model of a hydraulic test robot. The obtained model is intended to
provide a basis for model-based control of the robot. The physical
model is formulated in continuous time and is derived by
application of the laws of physics on the system. The unknown (or
uncertain) parameters are estimated with Maximum Likelihood (ML)
parameter estimation. The identified model has been evaluated by
comparing the measurements with simulation of the model. The
identified model was much more capable of describing the dynamics
of the system than the deterministic model.
| Original language | English |
|---|---|
| Title of host publication | Identification of Physical Parameters for A Hydraulic Robot |
| Publication date | 1997 |
| Publication status | Published - 1997 |
| Event | 4th International Conference on Fluid Power Transmission and Control - Hangzhou, China Duration: 9 Sept 1997 → 11 Sept 1997 |
Conference
| Conference | 4th International Conference on Fluid Power Transmission and Control |
|---|---|
| Country/Territory | China |
| City | Hangzhou |
| Period | 09/09/1997 → 11/09/1997 |