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 language | English |
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| Title of host publication | 8th Internation Conference on Climbing and Walking Robots |
| Publication date | 2005 |
| Publication status | Published - 2005 |
| Event | 8th Internation Conference on Climbing and Walking Robots (CLAWAR 2005) - London, UK Duration: 1 Jan 2005 → … |
Conference
| Conference | 8th Internation Conference on Climbing and Walking Robots (CLAWAR 2005) |
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| City | London, UK |
| Period | 01/01/2005 → … |
Keywords
- Parameter Estimation
- Adaptive Control
- System Identification
- Flexible Link Robot
- Delta-Operator