Identification of an electrically driven manipulator using the differential filters

Abstract

Abstract: The paper presents an example of solving the parameter identification problem in case of robot with three degrees of freedom has been also presented. The identification has been performed with the use of elaborated differential filters. The applied identifica-tion method does not require differential equations solving but only determining the appropriate derivatives. Identification method and its generalizations using the object inverse model require informa-tion on time derivatives of the input and output signals [1, 2]. The required derivative order depends on the order of differential equ-ations describing the object.