State-Space System Identification of Robot Manipulator Dynamics
Johansson, Rolf LU
; Robertsson, Anders
LU
; Nilsson, Klas
LU
and Verhaegen, Michel
(2000)
In Mechatronics
10(3).
p.403-418
- Abstract
- We have applied and evaluated system identification methods using both commercial software and dedicated subspace model identification software (MOESP). Results using the different software tools have been similar (but not identical) in accuracy and predictive power, the main differences being the time required for computation and occasional failures of one algorithm in delivery of a stable model. For linear model identification all methods tested failed to provide residuals, i.e. model misfit, uncorrelated with input and without significant autocorrelation. As a result, no linear stochastic innovations model could be formulated in any satisfactory manner. However, model-order tests based on singular values suggest that a low model order... (More)
- We have applied and evaluated system identification methods using both commercial software and dedicated subspace model identification software (MOESP). Results using the different software tools have been similar (but not identical) in accuracy and predictive power, the main differences being the time required for computation and occasional failures of one algorithm in delivery of a stable model. For linear model identification all methods tested failed to provide residuals, i.e. model misfit, uncorrelated with input and without significant autocorrelation. As a result, no linear stochastic innovations model could be formulated in any satisfactory manner. However, model-order tests based on singular values suggest that a low model order be sufficient for input-output modeling to within a modeling accuracy of 2-5%. Thus, the identification of a state-space model combined with a friction model provides effective means to modeling in robotics. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/162919
- author
- Johansson, Rolf
LU
; Robertsson, Anders
LU
; Nilsson, Klas
LU
and Verhaegen, Michel
- organization
- publishing date
- 2000
- type
- Contribution to journal
- publication status
- published
- subject
- in
- Mechatronics
- volume
- 10
- issue
- 3
- pages
- 403 - 418
- publisher
- Pergamon Press Ltd.
- external identifiers
-
- scopus:0033877329
- ISSN
- 0957-4158
- DOI
- 10.1016/S0957-4158(99)00049-5
- project
- Sensor-based Integration and Task-level Programming, 1999-2002.
- Lund Research Programme in Autonomous Robotics, 1998-2001
- RobotLab LTH
- Open Control Architectures (Nutek-Complex Technological Systems), 1998-2001.
- language
- English
- LU publication?
- yes
- id
- 1d76fbd5-2700-4e76-8246-d5e1f2103d91 (old id 162919)
- date added to LUP
- 2016-04-01 11:39:18
- date last changed
- 2023-03-01 01:25:08
@article{1d76fbd5-2700-4e76-8246-d5e1f2103d91,
abstract = {{We have applied and evaluated system identification methods using both commercial software and dedicated subspace model identification software (MOESP). Results using the different software tools have been similar (but not identical) in accuracy and predictive power, the main differences being the time required for computation and occasional failures of one algorithm in delivery of a stable model. For linear model identification all methods tested failed to provide residuals, i.e. model misfit, uncorrelated with input and without significant autocorrelation. As a result, no linear stochastic innovations model could be formulated in any satisfactory manner. However, model-order tests based on singular values suggest that a low model order be sufficient for input-output modeling to within a modeling accuracy of 2-5%. Thus, the identification of a state-space model combined with a friction model provides effective means to modeling in robotics.}},
author = {{Johansson, Rolf and Robertsson, Anders and Nilsson, Klas and Verhaegen, Michel}},
issn = {{0957-4158}},
language = {{eng}},
number = {{3}},
pages = {{403--418}},
publisher = {{Pergamon Press Ltd.}},
series = {{Mechatronics}},
title = {{State-Space System Identification of Robot Manipulator Dynamics}},
url = {{http://dx.doi.org/10.1016/S0957-4158(99)00049-5}},
doi = {{10.1016/S0957-4158(99)00049-5}},
volume = {{10}},
year = {{2000}},
}