The identification of the two link ceiling type robotic arm

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Authors: Goncharov V. I., Onufriev V. A.

Annotation: A two link ceiling type robotic arm is considered in this article. The goal is to get mathematical model of the first link in a robotic arms when the position of the second link changes. The description of this device, its features and input/output signals are shown. The identification of the structure of the first link is implemented in form of two models: the first model corresponds to a transient mode and reflects own properties of the link drive, the second model describes a forced motion during changes in the position of the second link. The parametric identification is implemented for the first dynamic model.

Keywords: real interpolation method, system identification, regulators tuning, robotic arm