Dynamics identification of a flexible robot using multichannel nonlinear systems

A method of link-displacement identification in flexible robots is presented. Displacement identification has been implemented by using nonparametric identification algorithm for nonlinear, multichannel systems, using a modified version of the Hammerstein model. A basic multichannel system applicable to one-link flexible manipulators is treated. It consists of two parallel subsystems: a nonlinear, memoryless subsystem and a dynamic, linear subsystem. Parameters of the linear subsystem are identified by the correlation method. The nonlinearity is recovered by the nonparametric estimate based on the Hermite series expansion. The identification algorithm recovers nonlinearities regardless of their functional forms. Both local and global convergence of the algorithm are obtained for all input densities. The convergence rates for nonlinearities of the Lipschitz type are investigated