Identification of Flexible Robot Arm System Using Extended Volterra Series by Laguerre Orthogonal Function

The present study concerns the identification of flexible robot arm non-linear system using Volterra series model. Too parameters are estimated in most of identification method using Volterra series which is in contradiction with the simplification principle in identification. The present paper Volterra series kernels are extended by orthogonal functions in order to identify the robot arm system, causing a decrease in parameters and identification time as well as an increase in accuracy and speed of convergence. In conclusion, the results of flexible robot arm system identification based on the Volterra series kernel extension by Laguerre orthogonal function are compared with the results of different methods in other papers.

کلیدواژه ها:

Volterra Series ، Lagore Orthogonal Functions ، Non-linear System Identification ، Optimization ، Robot’s Flexible Arm