적응시스템과 가속도정보를 이용한 이관성 시스템의 기계계 파라미터 추정

Parameter Estimation of Two-mass System using Adaptive System and Acceleration Information.

In this paper a novel estimation algorithm of mechanical parameters in two-mass system is proposed. The inertia of a load and a motor and the stiffness are estimated by using RLS (Recursive Least Square) algorithm and acceleration information of motor. The effectiveness of the proposed scheme is verified with simulation and experiments results.