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Furthermore, the proposed identification can be done during operation. Instead of the forward simu- lationthemeasuresof thepreviousmanipulationcanbeusedtosolvetheadjointsystemandcalculate the gradient. Hence, the defined cost functional, and therefore the signal energy, decreases during the manipulationof the robot. A big advantage is that it is not necessary to exchange any part of the robot,onlyan updateof the robotcontrol is required. Acknowledgment Thisprojectwassupportedby theprogram”RegionaleWettbewerbsfa¨higkeitO¨O2010-2013”,which isfinanced by theEuropean RegionalDevelopmentFund and thegovernmentofUpperAustria. References [1] S.Reichl,W.Steiner.TheOptimalControlApproachtoDynamicalInverseProblems. Journal of DynamicSystems, Measurement,andControl.Vol.134, Is. 2, 2012 [2] K. Nachbagauer, S. Oberpeilsteiner,K. Sherif, W.Steiner. TheUseof theAdjointMethodfor Solving Typical Optimization Problems in Multibody Dynamics. Journal of Computational and NonlinearDynamics. 2014 [3] Bryson, A., Ho,Y.: AppliedOptimalControl. Hemisphere, Washington,DC(1975) [4] Eberhard, P.: Adjoint Variable Method for Sensitivity Analysis of Multibody Systems Inter- preted as a Continuous, Hybrid Form of Automatic Differentiation. In: Proc. of the 2nd Int. Workshopon ComputationalDifferentiation,SantaFe. Philadelphia,pp. 319–328(1996) [5] Haug, E., Wehage, R., Mani, N.: Design Sensitivity Analysis of Large-Scaled Constrained Dynamic Mechanical Systems. Journal of Mechanisms, Transmissions, and Automation in Design 106(2),156–162(1984) [6] Bottasso, C., Croce, A., Ghezzi, L., Faure, P.: On the Solution of Inverse Dynamics and Tra- jectory Optimization Problems for Multibody Systems. Multibody System Dynamics 11(1), 1–22 (2004) [7] Bertolazzi, E., Biral, F., Lio, M.D.: Symbolic-Numeric Indirect Method for Solving Optimal Control Problems for Large Multibody Systems. Multibody System Dynamics 13, 233–252 (2005) [8] H.J. Kelley. Method of Gradients, Optimization techniques with applications to aerospace systems Mathematics in Scienceand Engineering,ElsevierScience, 1952 [9] A.E. Bryson. Optimal Programming Problems with Inequality Constraints II: Solution by Steepest-Ascent AIAA Journal, (1964), 25-34. [10] J.F. Bonnans, J.C. Gilbert, C. Lemare´chal, C.A. Sagastiza´bal. Numerical Optimization - The- oretical andPracticalAspects. SpringerBerlin Heidelberg, 2006 [11] Jack Sherman and Winifred J. Morrison. Adjustment of an inverse matrix corresponding to a change inoneelementofagivenmatrix. Ann. Math.Statist., 21(1):124–127,031950. 224