Identification of a manipulator model using the input error method in the Mathematica program

Abstract

The problem of parameter identification for a four-degree-of-freedom robot was solved using the Mathematica program. The identification was performed by means of specially developed differential filters. Using the example of a manipulator, we analyze the capabilities of the Mathematica program that can be applied to solve problems related to the modeling, control, simulation and identification of a system. The responses of the identification process for the variables and the values of the quality function are included.