Pay-load estimation of a 2DOF flexible link robot using a delta-operator technique

Morten Rostgaard Jensen; Niels Kjølstad Poulsen; Ole Ravn

doi:10.1109/CCA.2001.973872

Pay-load estimation of a 2DOF flexible link robot using a delta-operator technique

Morten Rostgaard Jensen, Niels Kjølstad Poulsen, Ole Ravn

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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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 correspondence 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 paper 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	Proceedings of the 2001 IEEE International Conference on Control Applications
Place of Publication	Mexico City
Publication date	2001
Pages	248-253
ISBN (Print)	0-7803-6733-2
DOIs	https://doi.org/10.1109/CCA.2001.973872
Publication status	Published - 2001
Event	2001 IEEE International Conference on Control Applications - Mexico City, Mexico Duration: 7 Sept 2001 → … https://ieeexplore.ieee.org/xpl/conhome/7676/proceeding

Conference

Conference	2001 IEEE International Conference on Control Applications
Country/Territory	Mexico
City	Mexico City
Period	07/09/2001 → …
Internet address	https://ieeexplore.ieee.org/xpl/conhome/7676/proceeding

Bibliographical note

Copyright: 2000 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE

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title = "Pay-load estimation of a 2DOF flexible link robot using a delta-operator technique",

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 correspondence 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 paper 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.",

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

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doi = "10.1109/CCA.2001.973872",

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Pay-load estimation of a 2DOF flexible link robot using a delta-operator technique. / Jensen, Morten Rostgaard; Poulsen, Niels Kjølstad; Ravn, Ole.
Proceedings of the 2001 IEEE International Conference on Control Applications. Mexico City, 2001. p. 248-253.

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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N1 - Copyright: 2000 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE

PY - 2001

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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 correspondence 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 paper 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.

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CY - Mexico City

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Y2 - 7 September 2001

ER -

Pay-load estimation of a 2DOF flexible link robot using a delta-operator technique

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