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Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification Approach
Joint Authors
Cambera, Juan Carlos
San-Millan, Andres
Feliu-Batlle, V.
Source
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-06-18
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
We deal with the online identification of the payload mass carried by a single-link flexible arm that moves on a vertical plane and therefore is affected by the gravity force.
Specifically, we follow a frequency domain design methodology to develop an algebraic identifier.
This identifier is capable of achieving robust and efficient mass estimates even in the presence of sensor noise.
In order to highlight its performance, the proposed estimator is experimentally tested and compared with other classical methods in several situations that resemble the most typical operation of a manipulator.
American Psychological Association (APA)
Cambera, Juan Carlos& San-Millan, Andres& Feliu-Batlle, V.. 2015. Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification Approach. Shock and Vibration،Vol. 2015, no. 2015, pp.1-13.
https://search.emarefa.net/detail/BIM-1078055
Modern Language Association (MLA)
Cambera, Juan Carlos…[et al.]. Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification Approach. Shock and Vibration No. 2015 (2015), pp.1-13.
https://search.emarefa.net/detail/BIM-1078055
American Medical Association (AMA)
Cambera, Juan Carlos& San-Millan, Andres& Feliu-Batlle, V.. Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification Approach. Shock and Vibration. 2015. Vol. 2015, no. 2015, pp.1-13.
https://search.emarefa.net/detail/BIM-1078055
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1078055