Aplicações do Método de Identificação por Subespaços usando a Técnica N4SID para um Manipulador Robótico (Application of the Subspace Identification Method using the N4SID Technique for a Robotic Manipulator)

Ademar Gonçalves Costa Junior (ademar.costa@ifpb.edu.br)1, José Antônio Riul (riul@ct.ufpb.br)2, Paulo Henrique Miranda Montenegro (paulo@ct.ufpb.br)2


1Instituto Federal de Educação, Ciência e Tecnologia da Paraíba (IFPB)
2Universidade Federal da Paraíba (UFPB)

This paper appears in: Revista IEEE América Latina

Publication Date: April 2016
Volume: 14,   Issue: 4 
ISSN: 1548-0992


Abstract:
This paper presents results for the application of the Subspace Identification Method using N4SID technique in its deterministic case. The goal is to obtain a state-space mathematical model for a robotic manipulator with five degrees of freedom. This study aims to present alternatives to the Prediction Error identification techniques in multivariable systems with high complexity and elevated computational efforts. Results indicate that the applied subspace identification leads to a successful state-space mathematical model which makes it an efficient alternative method to mathematical modeling in future projects.

Index Terms:
N4SID Method, Robotic Manipulator, State-space Model, Subspace Identification, System Identification   


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