Conference paper
Parameter estimation of robotic manipulator in frequency domain
2021 International Conference on Advanced Mechatronic Systems (ICAMechS)
2021 International Conference on Advanced Mechatronic Systems (ICAMechS) (Tokyo, Japan, 09/12/2021–12/12/2021)
2021
Abstract
In this paper, a novel parameter estimation approach for manipulator system using the steady state sinusoidal angular position measurement in the frequency domain is proposed. The torque input has been designed to be a linear combination of sinusoidal. Since the output measurement will be dominated by its steady state after sufficient long time and the coefficients of the steady state sinusoidal can be extracted, in which contains all information of manipulator system dynamics. All unknown parameters within the system model can then be estimated based on the extracted coefficients in finite frequency bands. The simulations for a two-link manipulator are carried out to illustrate the effectiveness of the proposed method.
Details
- Title
- Parameter estimation of robotic manipulator in frequency domain
- 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
- 2021 International Conference on Advanced Mechatronic Systems (ICAMechS)
- Conference
- 2021 International Conference on Advanced Mechatronic Systems (ICAMechS) (Tokyo, Japan, 09/12/2021–12/12/2021)
- Identifiers
- 991005545046207891
- Murdoch Affiliation
- School of Engineering and Energy; Harry Butler Institute; Centre for Water, Energy and Waste
- Language
- English
- Resource Type
- Conference paper
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