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http://dspace.univ-bouira.dz:8080/jspui/handle/123456789/14124| Title: | Identification des systèmes : application à un robot manipulateur |
| Authors: | BOUTGOUMAS, TINHINANE HAMICHI, KAMILIA |
| Keywords: | System identification, Robot manipulator, SCARA, Recursive Least Squares (RLS). |
| Issue Date: | 2022 |
| Publisher: | Université Akli Mohand Oulhadj - Bouira |
| Abstract: | In this work, we discussed a solution for the identification of robot manipulators. The dynamical model of a SCARA with 2 degrees of freedom has been derived, then the Recursive Least Squares (RLS) method has been implemented under a MATLAB program in the aim to identify the dynamical parameters of this robot. The simulation tests showed very satisfactory results concerning the efficiency of RLS method and the convergence of the identified model to the reel model of the robot. |
| URI: | http://dspace.univ-bouira.dz:8080/jspui/handle/123456789/14124 |
| Appears in Collections: | Mémoires Master |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| mémoire corrigé 2.pdf | 2,19 MB | Adobe PDF | View/Open |
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