Linear parametric modelling
This chapter presents the development of parametric approaches for dynamic modelling of a single-link flexible manipulator system. The least mean squares, recursive least squares and genetic algorithms are used to obtain linear parametric models of the system. The system is in each case modelled from the input torque to hub-angle, hub-velocity and end-point acceleration outputs. The models are validated using several validation tests. Finally, a comparative assessment of the approaches used is presented and discussed in terms of accuracy, efficiency and estimation of vibration modes of the system.
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