Model parameter on-line identification with nonlinear parametrization – manipulator model

This paper presents an example of solving the parameter identification problem in case a robot with two degrees freedom. In this study, weighted recursive least squares algorithm was generalised to nonlinear parameterisation which identified parameters did not satisfy linear model. The generalisation involved linearising model neighbourhood current values estimates. It assumed that estimates were updated every N steps signal sampling. method can be applied whenever concerning need determined at time measurement. is particularly useful adaptive control when plant vary over time.