DocumentCode :
646277
Title :
Global identification of mechanical and electrical parameters of synchronous motor driven joint with a fast CLOE method
Author :
Robet, P. Ph ; Gautier, M.
Author_Institution :
LUNAM, Univ. of Nantes, Nantes, France
fYear :
2013
fDate :
17-19 July 2013
Firstpage :
4604
Lastpage :
4609
Abstract :
In many cases of new actuation of compliant controlled or bio-inspired joint driven robot, a global identification of electrical and mechanical coupled dynamics is required. This paper proposes a technique which 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 first approach which has been validated on a DC motor allows a decoupled identification of the electrical and mechanical dynamics but fails to make a simultaneous identification. A major improvement of that method is proposed to carry out the coupled identification of both mechanical and electrical parameters. A validation on a synchronous motor driven joint shows the effectiveness of the new procedure.
Keywords :
DC motors; couplings; globalisation; identification; least squares approximations; manipulator dynamics; CLOE method; DC motor; decoupled identification; electrical parameters; global identification; inverse dynamic identification model method; linear least-squares technique; mechanical coupled dynamics; mechanical parameters; Equations; Estimation; Filtering; Joints; Mathematical model; Synchronous motors; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (ECC), 2013 European
Conference_Location :
Zurich
Type :
conf
Filename :
6669685
Link To Document :
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