Detailed modelling and estimation of practical robotic parameters for precision control

Abstract A rudimentary motor-load system is used to derive complex models of robotic systems. This economic manipulator displays all the fundamental nonlinear characteristics of a standard industrial robot. The manipulator has several advantages over its more costly rival, accurate values of inertia are easily assigned, and as a result secondary features are easily isolated. For the real system the physical characteristics of the electrical hardware, are modelled and then the actuator and mechanical transmission effects determined. Complex friction parameters of the system are then estimated; these allow the development of friction models and make possible friction compensation for control. Other practical considerations such as real-time parameter estimation are examined.

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