Identification of dynamic parameters and friction coefficients for a heavy-duty hydraulic manipulator

This paper investigates the dynamic parameter identification of a single heavy-duty hydraulic manipulator, as well as the estimation of coefficients of nonlinear friction model for the hydraulic cylinder. The conventional recursive least square method and generalized least square method are adopted respectively. Comparison results show that the prediction error of the generalized least square method is reduced by 41% to the conventional recursive least square method; it is more robust to the colored system noise.