Inertial Parameter Identification for Closed-Loop Mechanisms: Adaptation of Linear Regression for Coordinate Partitioning

Abstract

This study investigates the use of linear-regression-based identification in rigid multibody system applications. A multibody system model, originally described with differential-algebraic equations, is transformed into a set of ordinary differential equations using coordinate partitioning. This allows the identification framework (where the system is described with ordinary differential equations) to be applied to rigid multibody systems described with non-minimal coordinates. The methodology is demonstrated via numerical and experimental validation on a slider-crank mechanism. The results show that the presented methodology is capable of accurately identifying the system's inertial parameters even with a short motion trajectory used for training. The presented linear-regression-based identification approach opens new opportunities to develop more accurate multibody models. The resulting updated multibody models can be considered especially useful for state-estimation and the control of multibody systems.