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Parameter estimation of robotic manipulator in frequency domain

Zhu, Q., Man, Z., Cao, Z., Zheng, J. and Wang, H.ORCID: 0000-0003-2789-9530 (2021) Parameter estimation of robotic manipulator in frequency domain. In: 2021 International Conference on Advanced Mechatronic Systems (ICAMechS), 9 - 12 December 2021, Tokyo, Japan

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In this paper, a novel parameter estimation approach for manipulator system using the steady state sinusoidal angular position measurement in the frequency domain is proposed. The torque input has been designed to be a linear combination of sinusoidal. Since the output measurement will be dominated by its steady state after sufficient long time and the coefficients of the steady state sinusoidal can be extracted, in which contains all information of manipulator system dynamics. All unknown parameters within the system model can then be estimated based on the extracted coefficients in finite frequency bands. The simulations for a two-link manipulator are carried out to illustrate the effectiveness of the proposed method.

Item Type: Conference Paper
Murdoch Affiliation(s): Engineering and Energy
Centre for Water, Energy and Waste
Harry Butler Institute
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