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State-Space System Identification of Robot Manipulator Dynamics

In English

Författare

Summary, in English

We have applied and evaluated system identification methods using both commercial software and dedicated subspace model identification software (MOESP). Results using the different software tools have been similar (but not identical) in accuracy and predictive power, the main differences being the time required for computation and occasional failures of one algorithm in delivery of a stable model. For linear model identification all methods tested failed to provide residuals, i.e. model misfit, uncorrelated with input and without significant autocorrelation. As a result, no linear stochastic innovations model could be formulated in any satisfactory manner. However, model-order tests based on singular values suggest that a low model order be sufficient for input-output modeling to within a modeling accuracy of 2-5%. Thus, the identification of a state-space model combined with a friction model provides effective means to modeling in robotics.

Publiceringsår

2000

Språk

Engelska

Sidor

403-418

Publikation/Tidskrift/Serie

Mechatronics

Volym

10

Issue

3

Dokumenttyp

Artikel i tidskrift

Förlag

Pergamon Press Ltd.

Ämne

  • Computer Science
  • Control Engineering

Status

Published

Projekt

  • Sensor-based Integration and Task-level Programming, 1999-2002.
  • Lund Research Programme in Autonomous Robotics, 1998-2001
  • LU Robotics Laboratory
  • Open Control Architectures (Nutek-Complex Technological Systems), 1998-2001.

ISBN/ISSN/Övrigt

  • ISSN: 0957-4158