Parameter Estimation of a Single-Link Robotic Manipulator in Presence of Backlash

F.M. Malik, M.B. Malik, and E. Muhammad (Pakistan)


Parameter estimation, Robotics, and Backlash


In this paper, we present a procedure for parameter estimation of a single-link robotic manipulator, when its dynamics are affected by backlash nonlinearity. The angular velocity data of the link in response to square wave voltage applied to the motor is recorded. From this data, segments which are not affected by backlash are carefully identified and selected. Parameters of the manipulator are estimated from these segments using nonlinear least squares estimation technique. Precise curve fitting of the mathematical model using estimated parameters to the manipulator angular velocity profile is obtained, thus validating the proposed technique

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