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.
|Title of host publication||Identification of Physical Parameters for A Hydraulic Robot|
|Publication status||Published - 1997|
|Event||The 4th International Conference on Fluid Power
(Transmission and Control Hangzhou, China 1997) - Hangzhou, China|
Duration: 1 Jan 1997 → …
|Conference||The 4th International Conference on Fluid Power (Transmission and Control Hangzhou, China 1997)|
|Period||01/01/1997 → …|