Identification Of Flexible Robot Arm System Using Extended Volterra Series By Kautz Orthogonal Functions

Mahmood Ghanbari, Marziye Abbasi

This paper presents identification of a non-linear system for robot flexible arm as a black-box using Volterra series model. In most of the methods using Volterra series, too many number of parameters are estimated which is in contrast with the simplification principle in system identification. In this paper, for system identification of robot arm, kernels of Volterra series are developed using orthogonal functions that would reduce the number of parameters and consequently decreasing the identification time and increasing the accuracy and speed of convergence. At last, results of system identification of flexible robot arm based on expansion of Volterra series kernels through kautz orthogonal function are investigated with the results of the other method in literatures.