Experimental 2 d.o.f robot manipulator physical parameters estimation and indirect adaptive control using the power balance equation parametrisation

This paper describes the experimental evaluation of a novel identification scheme to determine the parameters of a two degrees of freedom direct-drive robot. The novelty of this scheme is that it ensures convergence of the estimated parameters to their true parameters, even when the regressor does not satisfy the stringent condition of persistent excitation, using the classical normalised gradient descendent algorithm. An indirect adaptive controller using this scheme is also evaluated and compared with a PD plus adaptive compensation controller, where a power consumption index is presented to highlight the superior performance of the proposed scheme.