Parameter Estimation for Robotic Manipulator Systems

In this paper, a novel methodology for estimating the parameters of robotic manipulator systems is proposed. It can be seen that, purpose parameter estimation, input torque to each joint motor designed as linear combination sinusoids. After transient responses angles exponentially converge zero, steady states angle outputs extracted. Since are equivalent finite Fourier series, coefficients state components further extracted in fundamental period. With amazing finding that contain all dynamic information systems, unknown system model accurately estimated with frequency bands. The simulation results two-link carried out illustrate effectiveness and robustness against measurement noise proposed method.