Modeling and identification of an RRR-robot

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

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

9 Citaten (Scopus)
307 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.
Originele taal-2Engels
TitelProceedings of the 40th IEEE Conference on Decision and Control, December 2001, Orlando
Plaats van productiePiscataway
UitgeverijInstitute of Electrical and Electronics Engineers
ISBN van geprinte versie0-7803-7061-9
StatusGepubliceerd - 2001


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