Estimation of physical parameters for dynamic processes with application to an industrial robot

Abstract

The unknown parameters of physical laws which govern the dynamics of processes can be obtained from measured input and output signals in a two-step procedure. First, the parameters of differential equations are estimated and then the physical parameters are calculated based on algebraic relations. After considering the model structure a suitable parameter estimation method for continuous-time signals is described, and the influence of a priori known parameters on the convergence is shown. The determination of physical parameters is then considered based on nonlinear algebraic relations known from theoretical modeling.<>