Pay-load Estimation of a 2 DOF Flexible Link Robot

Niels Kjølstad Poulsen; Ole Ravn

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 proceeding › Article in proceedings › Research › peer-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 language	English
Title of host publication	8th Internation Conference on Climbing and Walking Robots
Publication date	2005
Publication status	Published - 2005
Event	8th International Conference on Climbing and Walking Robots - London, United Kingdom Duration: 12 Sept 2005 → 15 Sept 2005

Conference

Conference	8th International Conference on Climbing and Walking Robots
Country/Territory	United Kingdom
City	London
Period	12/09/2005 → 15/09/2005

Keywords

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

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@inproceedings{e59ef2bf9d4248bea03c8fbab14d8010,

title = "Pay-load Estimation of a 2 DOF Flexible Link Robot",

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.",

keywords = "Parameter Estimation, Adaptive Control, System Identification, Flexible Link Robot, Delta-Operator",

author = "Poulsen, \{Niels Kj{\o}lstad\} and Ole Ravn",

year = "2005",

language = "English",

booktitle = "8th Internation Conference on Climbing and Walking Robots",

note = "8th International Conference on Climbing and Walking Robots, CLAWAR 2005 ; Conference date: 12-09-2005 Through 15-09-2005",

}

TY - GEN

T1 - Pay-load Estimation of a 2 DOF Flexible Link Robot

AU - Poulsen, Niels Kjølstad

AU - Ravn, Ole

PY - 2005

Y1 - 2005

N2 - 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.

AB - 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.

KW - Parameter Estimation

KW - Adaptive Control

KW - System Identification

KW - Flexible Link Robot

KW - Delta-Operator

M3 - Article in proceedings

BT - 8th Internation Conference on Climbing and Walking Robots

T2 - 8th International Conference on Climbing and Walking Robots

Y2 - 12 September 2005 through 15 September 2005

ER -

Pay-load Estimation of a 2 DOF Flexible Link Robot

Abstract

Conference

Keywords

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