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system identification #68
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9 tasks
Model of the motorEquationswith Motor DataSheetInitial guess based on datasheetBlocked motorwhich gives us No loadwhich gives us Experiment
which gives us ke=kc=0.235USI We evaluate the response time Tr to be around 0.03s which gives us L=0.24 H |
20240716 - Update on the System Identification of the Robot
This is the result obtained with the best set of parameters so far : rollout.webmThis is a very nice result which gives me hope for the swing up using NMPC -> #86 |
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To have an accurate simulation and for model-based control method such as NMPC we need to accurately model our system.
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