DocumentCode
3425196
Title
Experimental joint stiffness identification depending on measurements availability
Author
Janot, A. ; Gautier, M. ; Jubien, A. ; Vandanjon, P.O.
Author_Institution
DCSD, ONERA, Toulouse, France
fYear
2011
fDate
12-15 Dec. 2011
Firstpage
5112
Lastpage
5117
Abstract
This paper addresses the important topic of joint flexibility identification. Three dynamic models depending on measurements availability are compared. The parameters are estimated by using the ordinary least squares of an over linear system obtained from the sampling of the dynamic model along a closed loop tracking trajectory. An experimental setup exhibits the experimental identification results.
Keywords
closed loop systems; elasticity; least squares approximations; linear systems; parameter estimation; robot dynamics; closed loop tracking trajectory; dynamic models; experimental joint stiffness identification; joint flexibility identification; linear system; measurements availability; ordinary least squares; parameter estimation; Acceleration; Dairy products; Filtering; Friction; Joints; Load modeling; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location
Orlando, FL
ISSN
0743-1546
Print_ISBN
978-1-61284-800-6
Electronic_ISBN
0743-1546
Type
conf
DOI
10.1109/CDC.2011.6160402
Filename
6160402
Link To Document