Title :
Estimation of physical parameters for dynamic processes with application to an industrial robot
Author_Institution :
Inst. of Control Eng., Tech. Univ. of Darmstadt, Germany
Abstract :
The unknown parameters of physical laws which govern the dynamics of processes can be obtained from measured input and output signals in a two-step procedure. First, the parameters of differential equations are estimated and then the physical parameters are calculated based on algebraic relations. After considering the model structure a suitable parameter estimation method for continuous-time signals is described, and the influence of a priori known parameters on the convergence is shown. The determination of physical parameters is then considered based on nonlinear algebraic relations known from theoretical modeling
Keywords :
algebra; convergence; differential equations; industrial robots; parameter estimation; signal processing; algebraic relations; continuous-time signals; convergence; differential equations; dynamic processes; industrial robot; input signals; model structure; nonlinear algebraic relations; output signals; parameter estimation; physical parameters; Biological system modeling; Context modeling; Control engineering; Convergence; Industrial control; Laplace equations; Nonlinear equations; Parameter estimation; Service robots; Signal processing;
Conference_Titel :
Electrotechnical Conference, 1991. Proceedings., 6th Mediterranean
Conference_Location :
LJubljana
Print_ISBN :
0-87942-655-1
DOI :
10.1109/MELCON.1991.161769
