Modeling and identification of an RRR-robot

D. Kostic, R.H.A. Hensen, A.G. Jager, de, M. Steinbuch

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

9 Citations (Scopus)
294 Downloads (Pure)


A dynamic model of a robot with 3 rotational degrees of freedom is derived in closed form. A systematic procedure for estimation of model dynamic parameters is suggested. It consists of the following steps: (i) identification of friction model parameters for each joint; (ii) calculation of optimal exciting trajectories, required for estimation of the remaining dynamic model parameters; (iii) estimation of these parameters using a least-squares method. The estimated model satisfactory reconstructs experimental control signals, justifying its use in model-based nonlinear control.
Original languageEnglish
Title of host publicationProceedings of the 40th IEEE Conference on Decision and Control, December 2001, Orlando
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
ISBN (Print)0-7803-7061-9
Publication statusPublished - 2001


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