Parameter estimation of a single-link robotic manipulator in presence of dead-band and dead-zone

An algorithm is presented for parameter estimation of a single-link robotic manipulator when there is dead-band between the duty-cycle of applied and actual PWM for the actuator and dead-zone (caused by backlash) in the torque transmission from actuator to the link. The proposed algorithm has two stages, in the first stage dead-band and one of the two system parameters is estimated using steady-state response and in the second stage, transient response of the manipulator motion profile not affected by dead-zone is used for the estimation of remaining parameter Precise curve fitting of the analytical model using estimated parameters to the manipulator position profile warrants the proposed technique.