Identification of the NARMAX Parametric Model in a Three-Degree-of-Freedom Robotic Manipulator Using FROLS and RLS

Mozo C.J.; Manzano E.A. · Lecture Notes in Networks and Systems (2026) · DOI: 10.1007/978-3-032-18982-0_22

Resumen

This paper investigates the dynamic behavior of the end-effector position of a three-degree-of-freedom robotic manipulator using a NARMAX parametric model. Joint position data were acquired experimentally after the manipulator was excited with a specific input signal. The data were scaled to degrees, and the end-effector position was computed via forward kinematics. We then selected the terms of the parametric model structure using the ERR criterion and the FROLS algorithm. Subsequently, the model coefficients were estimated with the RLS algorithm, and the model was validated using MSE. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2026.

Instituciones: Universidad Nacional de Trujillo