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

Table 1

Flexible robot parameters.

Parameter	Units	Symbol	Value
Beam length	(m)		1.045
Beam rotational stiffness	(N⋅m⋅rad^−1)		2498.2
Beam viscous damping coefficient	(N⋅m⋅s⋅rad^−1)		0.2
Payload mass 1	(Kg)		1.150
Payload mass 2	(Kg)		1.690
Payload mass 3	(Kg)		2.930