Identification of a Robotic Arm Using Optimization Methods for Model Estimation
2002-01-2047
07/09/2002
- Event
- Content
- The system identification procedure is a powerful and flexible tool for the modeling of dynamic systems. This paper implements the theory of parametric identification in order to estimate a valid model of a flexible robotic arm. For this purpose experimental data is used for the estimation of ARMAX SISO models. A two-stages identification procedure (non-parametric & parametric) provides an insight about the system under identification. In the first stage, known signal analysis methods are applied (correlation-spectral analysis) for the estimation of frequencies and frequency response, and in the second stage, the estimation of ARMAX models is performed in order to fit a transfer function model to collected input-output data set. For the estimation of model's coefficients, use of Evolutionary Algorithms is implemented.
- Pages
- 7
- Citation
- Kanarachos, A., Koulocheris, D., Dertimanis, V., and Vrazopoulos, H., "Identification of a Robotic Arm Using Optimization Methods for Model Estimation," SAE Technical Paper 2002-01-2047, 2002, https://doi.org/10.4271/2002-01-2047.