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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:
author
organization
publishing date
type
Contribution to journal
publication status
published
subject
in
Mechatronics
volume
10
issue
3
pages
403 - 418
publisher
Pergamon
external identifiers
  • scopus:0033877329
ISSN
0957-4158
DOI
10.1016/S0957-4158(99)00049-5
language
English
LU publication?
yes
id
1d76fbd5-2700-4e76-8246-d5e1f2103d91 (old id 162919)
date added to LUP
2007-07-05 13:03:53
date last changed
2017-10-22 03:34:51
@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},
  series       = {Mechatronics},
  title        = {State-Space System Identification of Robot Manipulator Dynamics},
  url          = {http://dx.doi.org/10.1016/S0957-4158(99)00049-5},
  volume       = {10},
  year         = {2000},
}