Abstract
A new parametric observer for identifying the system parameters of a single-link flexible-joint manipulator is presented. The design achieves the desired goals provided two conditions are satisfied, i.e., the basis functions are linearly independent in terms of the steady-state trajectories and the parameter errors converge to some constants eventually. It can be incorporated with any a control scheme sustaining such steady-state trajectories. No acceleration signals are required. However, the motor inertia must be given a priori. Numerical study of the proposed scheme with a specific robust control law is undertaken to demonstrate its validity.
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Huang, J.T. A New Approach to Parametric Identification of a Single-Link Flexible-Joint Manipulator. Journal of Intelligent and Robotic Systems 37, 273–284 (2003). https://doi.org/10.1023/A:1025435418131
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DOI: https://doi.org/10.1023/A:1025435418131