DocumentCode :
1773236
Title :
Identification of flexible link by a novel recursive maximum likelihood method
Author :
Yazdani, Sajjad ; Naderifar, Fatemeh ; Menhaj, M.B.
Author_Institution :
Sch. of Electr. & Comput. Eng., Tehran Univ., Tehran, Iran
fYear :
2014
fDate :
15-17 Oct. 2014
Firstpage :
807
Lastpage :
812
Abstract :
In recent decades, many researchers use model-based control techniques for flexible link. This paper presents comparative study on some methods for identification of flexible link. An analytical model for flexible link will be used as a basic simulation. In the identification and evaluation process, the output obtained from the analytical model is considered as measured signal of a physical flexible manipulator. A new RML method is introduced that yields sufficient result. Four different methods for linear identification are applied to problem and the results are investigated.
Keywords :
flexible manipulators; linear systems; maximum likelihood estimation; recursive estimation; RML method; evaluation process; flexible link; identification process; linear identification; model-based control techniques; physical flexible manipulator; recursive maximum likelihood method; Analytical models; Equations; Friction; Joints; Mathematical model; Robots; Torque;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Mechatronics (ICRoM), 2014 Second RSI/ISM International Conference on
Conference_Location :
Tehran
Type :
conf
DOI :
10.1109/ICRoM.2014.6991003
Filename :
6991003
Link To Document :
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