A matlab-based identification procedure applied to a two-degrees-of-freedom robot manipulator for engineering students

Abstract

This document proposes a parameter identification procedure, which overcomes drawbacks due to disturbances in an experimental platform. The main purpose of this work is to describe and formalize a matlab-based identification procedure that can be used by undergraduate and graduate students. The procedure can be easily extended to many types of system. As an application example, this work considers a two-degrees-of-freedom rigid link robot manipulator. The program code for matlab is provided, only requiring the joint position and applied torque measurements. Finally, the estimated parameters of the identified system are validated, showing that simulations and experiments are consistent. Assessment of the identification method by engineering students is described. Specifically, learning of parameter identification was observed since students were able to perform the proposed methodology and to apply it to other systems.