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A New Parameters Identification Technique for Constrained Robot

International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Year of Publication: 2019
Kadhim H. Hassan, W. A. Wali, T. Y. Abdalla

Kadhim H Hassan, W A Wali and T Y Abdalla. A New Parameters Identification Technique for Constrained Robot. International Journal of Computer Applications 181(36):33-37, January 2019. BibTeX

	author = {Kadhim H. Hassan and W. A. Wali and T. Y. Abdalla},
	title = {A New Parameters Identification Technique for Constrained Robot},
	journal = {International Journal of Computer Applications},
	issue_date = {January 2019},
	volume = {181},
	number = {36},
	month = {Jan},
	year = {2019},
	issn = {0975-8887},
	pages = {33-37},
	numpages = {5},
	url = {},
	doi = {10.5120/ijca2019918333},
	publisher = {Foundation of Computer Science (FCS), NY, USA},
	address = {New York, USA}


This paper presents an identification method for the dynamic parameters of constrained robot manipulator in presence of uncertainties in constraints and robot model. Closed-loop dynamic error equations are derived based on computing input torque and end-effector contact force to survey both desired path and force. The reduced form system equation is adopted for the robot model to prove the proposed identification method. In this work, an ANFIS network has been used and trained based on the presented error component equations to identify the dynamic parameters of two links constrained robot manipulator.


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Constrained robot manipulator, Robot Model