Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification Approach
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...
Paper Details
Title
Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification Approach
Published Date
Jan 1, 2015
Journal
Volume
2015
Pages
1 - 13
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