Identification of an Electrically Driven Manipulator Using the Differential Filters – Input Error Method

• Autorzy: Cedro L.
• Języki publikacji: EN

Abstrakty

EN

The paper presents an example of solving the parameter identification problem in case of robot with three degrees of freedom has been presented. The identification has been performed with the use of elaborated differential filters. The applied identification method does not require differential equations solving but only determining the appropriate derivatives. Identification method and its generalizations using the object inverse model require information on time derivatives of the input and output signals. The required derivative order depends on the order of differential equations describing the object.

Słowa kluczowe

EN

differential filters; identification; input error method

PL

filtry różniczkujące; identyfikacja

• Wydawca: Oficyna Wydawnicza Politechniki Białostockiej
• Czasopismo: Acta Mechanica et Automatica
• Rocznik: 2012
• Tom: Vol. 6, no. 2
• Strony: 23--27
• Opis fizyczny: Bibliogr. 8 poz., Wykr.

Twórcy

autor

Cedro L.

• Kielce University of Technology, Faculty of Mechatronics and Machinery Design, Al. Tysiąclecia PP 7, 25-314 Kielce, Poland,

Bibliografia

• 1. Cedro L., Janecki D. (2009), Differential filters and the identification of a manipulator using Mathematica software, XXXIV. Seminar ASR '2009 Instruments and Control, Ostrava, ISBN 978-80-248-1953-2.
• 2. Cedro L., Janecki D. (2011), Model parameter indentification with nonlinear parameterization applied to a manipulator model, Monographic series of publications-Computer science in the age of XXI century, ISBN 978-83-7789-006-6, ISBN 978-83-7351-324-2.
• 3. Janecki D., Cedro L. (2007), Differential Filters With Application To System Identification, 7th European Conference of Young Research and Science Workers in Transport and Telecommunications TRANSCOM 2007, śilina, Slovakia, p. 115.
• 4. Kowal J. (2004), Fundamentals of control engineering. Vol. II, UWND, Kraków.
• 5. Lyons R. G.(1999), An introduction to digital signal processing (in Polish), WKiŁ, Warsaw.
• 6. Mocak J., Janiga I. I, Rievaj M., Bustin D. (2007), The Use of Fractional Differentiation or Integration for Signal Improvement, Measurement Science Review, Volume 7, Section 1, No. 5.
• 7. Pintelon R., Schoukens J. (1990), Real-Time Integration and Differentiation of Analog Signals by Means of Digital Filtering, IEEE Transactions on Instrumentation and Measurement. Vol. 39. No. 6.
• 8. Rabiner L. R. and Gold B. (1975), Theory and Application of Digital Signal Processing, Prentice-Hall, Inc.: Englewood Cliffs, NJ