This paper describes a case study of identifying the physical
model (or the grey box 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.
| Number of pages | 30 |
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| Publication status | Published - 1997 |
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