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Shock and Vibration
Volume 2015, Article ID 294157, 13 pages
Research Article

Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification Approach

Universidad de Castilla-La Mancha, 13071 Ciudad Real, Spain

Received 8 December 2014; Accepted 27 May 2015

Academic Editor: Reza Jazar

Copyright © 2015 Juan Carlos Cambera et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


We deal with the online identification of the payload mass carried by a single-link flexible arm that moves on a vertical plane and therefore is affected by the gravity force. Specifically, we follow a frequency domain design methodology to develop an algebraic identifier. This identifier is capable of achieving robust and efficient mass estimates even in the presence of sensor noise. In order to highlight its performance, the proposed estimator is experimentally tested and compared with other classical methods in several situations that resemble the most typical operation of a manipulator.