Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification Approach
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...
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| Format: | Article |
| Language: | English |
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Wiley
2015-01-01
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| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.1155/2015/294157 |
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| _version_ | 1832565909771780096 |
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| author | Juan Carlos Cambera Andres San-Millan Vicente Feliu-Batlle |
| author_facet | Juan Carlos Cambera Andres San-Millan Vicente Feliu-Batlle |
| author_sort | Juan Carlos Cambera |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-1de99231e5c841c593ef1ec7e4e0e2b2 |
| institution | Kabale University |
| issn | 1070-9622 1875-9203 |
| language | English |
| publishDate | 2015-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Shock and Vibration |
| spelling | doaj-art-1de99231e5c841c593ef1ec7e4e0e2b22025-02-03T01:05:32ZengWileyShock and Vibration1070-96221875-92032015-01-01201510.1155/2015/294157294157Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification ApproachJuan Carlos Cambera0Andres San-Millan1Vicente Feliu-Batlle2Universidad de Castilla-La Mancha, 13071 Ciudad Real, SpainUniversidad de Castilla-La Mancha, 13071 Ciudad Real, SpainUniversidad de Castilla-La Mancha, 13071 Ciudad Real, SpainWe 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.http://dx.doi.org/10.1155/2015/294157 |
| spellingShingle | Juan Carlos Cambera Andres San-Millan Vicente Feliu-Batlle Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification Approach Shock and Vibration |
| title | Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification Approach |
| title_full | Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification Approach |
| title_fullStr | Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification Approach |
| title_full_unstemmed | Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification Approach |
| title_short | Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification Approach |
| title_sort | payload mass identification of a single link flexible arm moving under gravity an algebraic identification approach |
| url | http://dx.doi.org/10.1155/2015/294157 |
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