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Published (Version of Record)CC BY V4.0, Open Access
Journal article
Parameter estimation for robotic manipulator systems
Machines, Vol.10(5), Article 392
2022
Abstract
In this paper, a novel methodology for estimating the parameters of robotic manipulator systems is proposed. It can be seen that, for the purpose of parameter estimation, the input torque to each joint motor is designed as a linear combination of sinusoids. After the transient responses of joint angles exponentially converge to zero, the steady states of joint angle outputs can be extracted. Since the steady states of joint angles are the equivalent finite Fourier series, the coefficients of the steady state components of joint angles can be further extracted in a fundamental period. With the amazing finding that the steady states contain all dynamic information of manipulator systems, all unknown parameters of the system model can be accurately estimated with the extracted coefficients in finite frequency bands. The simulation results for a two-link manipulator are carried out to illustrate the effectiveness and robustness against measurement noise of the proposed method.
Details
- Title
- Parameter estimation for robotic manipulator systems
- Authors/Creators
- Q. Zhu (Author/Creator) - Swinburne University of TechnologyZ. Man (Author/Creator) - Swinburne University of TechnologyZ. Cao (Author/Creator) - Swinburne University of TechnologyJ. Zheng (Author/Creator) - Swinburne University of TechnologyH. Wang (Author/Creator) - Murdoch University
- Publication Details
- Machines, Vol.10(5), Article 392
- Publisher
- MDPI
- Identifiers
- 991005544337607891
- Copyright
- © 2022 by the authors
- Murdoch Affiliation
- School of Engineering and Energy; Harry Butler Institute; Centre for Water, Energy and Waste
- Language
- English
- Resource Type
- Journal article
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- Collaboration types
- Domestic collaboration
- Citation topics
- 4 Electrical Engineering, Electronics & Computer Science
- 4.29 Automation & Control Systems
- 4.29.104 Adaptive Control
- Web Of Science research areas
- Engineering, Electrical & Electronic
- Engineering, Mechanical
- ESI research areas
- Engineering