Pay-load Estimation of a 2 DOF Flexible Link Robot

Niels Kjølstad Poulsen (Invited author), Ole Ravn (Invited author)

    Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

    Abstract

    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.
    Original languageEnglish
    Title of host publication8th Internation Conference on Climbing and Walking Robots
    Publication date2005
    Publication statusPublished - 2005
    Event8th International Conference on Climbing and Walking Robots - London, United Kingdom
    Duration: 12 Sept 200515 Sept 2005

    Conference

    Conference8th International Conference on Climbing and Walking Robots
    Country/TerritoryUnited Kingdom
    CityLondon
    Period12/09/200515/09/2005

    Keywords

    • Parameter Estimation
    • Adaptive Control
    • System Identification
    • Flexible Link Robot
    • Delta-Operator

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