Experimental On-line Identification of an Elastic Robot Manipulator

Abstract

In this paper we present experimental results on the identification of an elastic, single degree of freedom planar robot manipulator. The system is excited with a flat frequency spectrum chirp signal and the resulting beam vibration is sensed with a tip mounted accelerometer. Using frequency domain identification techniques a fourth order state space model of the system is identified on-line from the input-output data for two load cases. The identified models are shown to compare favourably with reference models obtained off-line from a signal analyser.