Payload Mass Identification of a Single-Link Flexible Arm moving under Gravity: an Algebraic Identification Approach

Juan Carlos Cambera, Andres San Millan Rodriguez, Vicente Feliu-Batlle*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

Abstract

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.
Original languageEnglish
Article number294157
Number of pages13
JournalShock and Vibration
Volume2015
Early online date18 Jun 2015
DOIs
Publication statusPublished - 18 Jun 2015

Bibliographical note

Acknowledgements: This paper was sponsored by the Spanish FPU12/00984 Program (Ministerio de Educacion, Cultura y Deporte). It was also sponsored by the Spanish Government Research Program with the Project DPI2012-37062-CO2-01 (Ministerio de Economia y Competitividad) and by the European Social Fund.

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