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SYSTEM IDENTIFICATION AND MODEL REDUCTION FOR A SINGLE-LINK FLEXIBLE MANIPULATOR

✍ Scribed by K. LIU; X. SUN

Publisher
Elsevier Science
Year
2001
Tongue
English
Weight
460 KB
Volume
242
Category
Article
ISSN
0022-460X

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✦ Synopsis

A new model reduction and updating technique is proposed and applied in modelling of a single-link #exible manipulator. The Observability Range Space Extraction algorithm is used to generate an initial overparameterized state-space model. The identi"ed model is transformed into modal realization. The modal responses of individual modes are evaluated. A new measure is proposed to quantify the contribution of individual modes to the total responses. Using the proposed measure, a reduced order model is obtained by retaining the most signi"cant modes. To improve model accuracy, either the reduced input or output matrix can be recalculated by a proposed method. Several critical issues related to the experimental identi"cation are addressed. Experimental identi"cation results are presented to illustrate the proposed technique.

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