What is it about?
This paper presents a methodology for parameter identification of flexible joint robot manipulators. It also provides guidelines for the computing of the joint position filtering and velocity estimation. Validation is performed using real-time experiments, where model-based tracking controllers are implemented.
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Why is it important?
The methodology allows identifying the whole set of parameters in a single experiment, which is not the case for other methodologies existing in the literature.
Perspectives
This work is important because all the readers interested in applying a parameter identification algorithm can do it by reading this paper because it contains all the steps required to apply a parameter identification algorithm to a real system. Furthermore, the proposed methodology allows identifying actuated and underactuated systems.
Dr Roger Miranda-Colorado
CONACYT-IPN-CITEDI
Read the Original
This page is a summary of: Experimental parameter identification of flexible joint robot manipulators, Robotica, May 2017, Cambridge University Press,
DOI: 10.1017/s0263574717000224.
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