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 Internation Conference on Climbing and Walking Robots (CLAWAR 2005) - London, UK
Duration: 1 Jan 2005 → …

Conference

Conference8th Internation Conference on Climbing and Walking Robots (CLAWAR 2005)
CityLondon, UK
Period01/01/2005 → …

Keywords

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

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