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dc.contributor.authorLIN, SKen_US
dc.date.accessioned2014-12-08T15:03:48Z-
dc.date.available2014-12-08T15:03:48Z-
dc.date.issued1994-09-01en_US
dc.identifier.issn0018-9286en_US
dc.identifier.urihttp://dx.doi.org/10.1109/9.317118en_US
dc.identifier.urihttp://hdl.handle.net/11536/2349-
dc.description.abstractThis note presents a recursive identification method to estimate the minimal parameters of a class of nonlinear deterministic system. The result can be applied to a manipulator with unknown torque constants. A procedure to identify the torque constants, the friction, and the gravity parameters at the same time is then proposed. This is worthwhile since the PD feedback control with the gravity and friction compensation ensures a zero steady-state response for the set-point control. A theory addresses the minimal parameters composed of the three groups of parameters. The identification procedure for the minimal parameters is conducted by moving one joint with a constant velocity at a time. The persistently exciting trajectories for the identification are also suggested. The experiment on the PUMA 560 illustrates the identification method.en_US
dc.language.isoen_USen_US
dc.titleIDENTIFICATION OF A CLASS OF NONLINEAR DETERMINISTIC SYSTEMS WITH APPLICATION TO MANIPULATORSen_US
dc.typeNoteen_US
dc.identifier.doi10.1109/9.317118en_US
dc.identifier.journalIEEE TRANSACTIONS ON AUTOMATIC CONTROLen_US
dc.citation.volume39en_US
dc.citation.issue9en_US
dc.citation.spage1886en_US
dc.citation.epage1893en_US
dc.contributor.department交大名義發表zh_TW
dc.contributor.department電控工程研究所zh_TW
dc.contributor.departmentNational Chiao Tung Universityen_US
dc.contributor.departmentInstitute of Electrical and Control Engineeringen_US
dc.identifier.wosnumberWOS:A1994PG37300017-
dc.citation.woscount3-
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