14th IFAC Symposium on System Identification, SYSID 2006

SYSID-2006 Paper Abstract


Paper WeA1.2

Wernholt, Erik (Linkoping Univ.), Gunnarsson, Svante (Linkoping Univ.)

Nonlinear Identification of a Physically Parameterized Robot Model

Scheduled for presentation during the Regular Session "Identification of Nonlinear Systems" (WeA1), Wednesday, March 29, 2006, 10:50−11:10, Concert Hall

14th IFAC Symposium on System Identification, March 29 - 31, 2006, Newcastle, Australia

This information is tentative and subject to change. Compiled on July 17, 2018

Keywords Grey Box Modelling, Nonlinear System Identification, Mechanical and Aerospace


In the work presented here, a three-step identification procedure for rigid body dynamics, friction, and flexibilities, introduced in (Wernholt and Gunnarsson, 2005), will be utilized and extended. Using the procedure, the parameters can be identified only using motor measurements.In the first step, rigid body dynamics and friction will be identified using a separable least squares method, where a friction model describing the Striebeck effect is used. In the second step, initial values for flexibilities are obtained using inverse eigenvalue theory. Finally, in the last step, the remaining parameters of a nonlinear physically parameterized model are identified directly in the time domain. The procedure is exemplified using real data from an experimental industrial robot.