Pay-Load Estimation of a 2 DOF Flexible Link Robot
نویسندگان
چکیده
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. 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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