Using the SDP identification method for electromechanical systems
نویسندگان
چکیده
The standard robot identification method is based on the use of inverse dynamic model (IDM) and application Least Squares (LS) estimation while tracking trajectories. Although this approach has been successfully applied to several industrial robots, friction assumed be linear. In paper, a two-step LS proposed that corrects limitation. first step, State-Dependent-Parameter (SDP) combined with IDM identify nature effect. second performed in order obtain estimates inertia gravity parameters. experimental results obtained 6 degrees-of-freedom TX40 show effectiveness new approach.
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ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2021
ISSN: ['2405-8963', '2405-8971']
DOI: https://doi.org/10.1016/j.ifacol.2021.08.461