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

Table 3

Algebraic identifier resetting algorithm: evaluation for experiment type 1.

	Experiment type 1
	Convergence time	% of the trajectory duration	Error
Payload	0.90 s	45.0%	3.99%
Payload	0.63 s	31.7%	4.61%
Payload	0.65 s	32.4%	1.06%