A New On-Line Bias-Compensating Least-Squares Method for Fdentification of Linear Discretetime Systems

1994 ◽  
Vol 27 (8) ◽  
pp. 1363-1368
Author(s):  
P. Sibille ◽  
H.L. Nguyen ◽  
H. Garnier ◽  
A. Richard
Keyword(s):  
Least Squares ◽  
Least Squares Method ◽  
On Line

A Three-Dimensional Generalization of Reuleaux’s Method Based on Line Geometry

2006 ◽  
Author(s):  
Jasem Baroon ◽  
Bahram Ravani
Keyword(s):  
Rigid Body ◽  
Least Squares ◽  
Least Squares Method ◽  
Three Dimensional ◽  
Line Geometry ◽  
Basic Form ◽  
Motion Reconstruction ◽  
Linear Solution ◽  
On Line

In kinematics, the problem of motion reconstruction involves generation of a motion from the specification of distinct positions of a rigid body. In its most basic form, this problem involves determination of a screw displacement that would move a rigid body from one position to the next. Much if not all of the previous work in this area has been based on point geometry. In this paper, we develop a method for motion reconstruction based on line geometry. An elegant geometric method is developed based on line geometry that can be considered as a generalization of the classical Reuleaux’s method used in 2D kinematics. The case of over determined system is also considered a linear solution is presented based on least squares method.

Identification of Coulomb and Viscous Friction in Robot Drives: An Experimental Comparison of Methods

1996 ◽  
Vol 210 (6) ◽  
pp. 529-540 ◽  
Author(s):  
M R Elhami ◽  
D J Brookfield
Keyword(s):  
Least Squares ◽  
Least Squares Method ◽  
Viscous Friction ◽  
Rolling Friction ◽  
Experimental Comparison ◽  
Frictional Torque ◽  
Velocity Versus ◽  
On Line ◽  
Friction Parameters ◽  
Frictional Coefficients

This paper presents an experimental comparison of five methods of identifying friction in robot drives. The methods considered are direct plotting of velocity versus armature voltage, plotting velocity versus armature current, third harmonic estimation, batch least squares and sequential least squares. These methods were implemented on a d.c. servo motor robot drive system to identify Coulomb and viscous friction parameters. It is shown that an asymmetric Coulomb and viscous model properly identifies the frictional torque due to the combined sliding and rolling friction in the motor. Furthermore, although each of the identification methods is shown to be capable of giving reasonable estimates of the frictional coefficients, the plotting of velocity versus armature current is shown to be most suitable for off-line frictional identification and the sequential least-squares method most suitable for on-line identification, particularly when coefficients may change with time.

An experiment-library least-squares method on on-line coal element contents analysis

2012 ◽  
Vol 55 (11) ◽  
pp. 2062-2069 ◽  
Author(s):  
HuiDong Wang ◽  
JingBin Lu ◽  
YuPing Lu ◽  
Dong Yang ◽  
KeYan Ma ◽  
...  
Keyword(s):  
Least Squares ◽  
Least Squares Method ◽  
On Line ◽  
Element Contents
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