Application of the Subspace Identification Method using the N4SID Technique for a Robotic Manipulator

摘要

This paper presents results for the application of the Subspace Identification Method using N4SID technique in its deterministic case. The goal is to obtain a state-space mathematical model for a robotic manipulator with five degrees of freedom. This study aims to present alternatives to the Prediction Error identification techniques in multivariable systems with high complexity and elevated computational efforts. Results indicate that the applied subspace identification leads to a successful state-space mathematical model which makes it an efficient alternative method to mathematical modeling in future projects.