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Parameter Identification for a Servomotor Driven Robot Arm – An Output Feedback Approach

Selvaganesan, N., and Renganathan, S., (2007) Parameter Identification for a Servomotor Driven Robot Arm – An Output Feedback Approach. Elektrika Journal of Electrical Engineering, 9 (2). pp. 8-13. ISSN 01284428

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Official URL: http://fke.utm.my/elektrika/dec07/paper2dec07.pdf

Affiliations

Bharath Institute of Higher Education and Research, India
Bharath Institute of Higher Education and Research, India

Abstract

This paper presents the application of a modified and straightforward method of identification and control algorithm for output feed back system. In this scheme a two-part control strategy is used, which begins with a finite duration of active identification phase followed by the actual control phase. The identification of the parameter is through a recursive orthogonalized projection estimator, and a new input selection procedure is also evolved to make the scheme attractive. In this paper a deadbeat control algorithm is used for control purposes. Its effectiveness has been demonstrated by computer simulation carried out for a ‘servo motor driven robot arm’ and results are shown that the proposed algorithm exhibits rapid convergence and is able to track time varying plant parameter.

Item Type:Journal
Keywords:control algorithm
Subjects:T Technology, Engineering
ID Code:2449

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