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A method for on-line identification of mechanical system including nonlinear friction

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4 Author(s)
Toyozawa, Y. ; Kyushu Branch Office, FANUC Corp., Kumamoto, Japan ; Sonoda, N. ; Harada, H. ; Kashiwagi, H.

This paper describes a practical method to identify mechanical parameters such as inertia and nonlinear friction. In the proposed method, mechanical system is represented as an inverse transfer function model and a low-pass filtered M-sequence is used as an input signal. The mechanical parameters are estimated by using steepest descent method with a dead band. From the results of numerical simulation and experiment, it is shown that the proposed method is very effective from practical point of view.

Published in:

Control Conference (ASCC), 2011 8th Asian

Date of Conference:

15-18 May 2011