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

Figure 3

Example of the signals involved in the identification algorithm to discuss (a) estimation of the tip position , (b) first-order numerical time differentiation of the estimation of the tip position , (c) second-order numerical time differentiation of the estimation of the tip position , and (d) coupling torque .

(a)

(b)

(c)

(d)