Parameter Identification for a Servomotor Driven Robot Arm – An Output Feedback Approach

This paper presents the application of a modified and straightforward method of identification and control algorithm for output feed back system. In this scheme a two-part control strategy is used, which begins with a finite duration of active identification phase followed by the actual control phase. The identification of the parameter is through a recursive orthogonalized projection estimator, and a new input selection procedure is also evolved to make the scheme attractive. In this paper a deadbeat control algorithm is used for control purposes. Its effectiveness has been demonstrated by computersimulation carried out for a ‘servo motor driven robot arm’ and results are shown that the proposed algorithm exhibits rapidconvergence and is able to track time varying plant parameter.