Decoupled identification of electrical and mechanical parameters of synchronous motor-driven chain with an efficient CLOE method

Because of increasing joint speed and acceleration of complex mechanical structures as rigid and flexible robot manipulators, accurate models of joint with electric drives are needed to improve their simulation and their control. We proposed a new decoupled identification method to get the electrical and mechanical parameters of a robot joint driven by a synchronous machine. This technique mixes a closed loop output error method with the inverse dynamic identification model method which allows using linear least-squares technique to estimate the parameters. A validation on a synchronous motor driven joint shows the effectiveness of the new procedure.