Paper Info
Title
A New Method for the Identification of Flexible Joint Manipulators Using Motor Force/torque Data.
Abstract
This paper deals with joint stiffness identification with new closed loop output error method which minimizes the quadratic error between the actual motor force/torque and the simulated one. This method called DIDIM (Direct and Inverse Identification Model) was previously validated on rigid robots and is now extended to a flexible joint manipulator. DIDIM method is derived into a three-step identification procedure: first, the rigid dynamic model is identified with DIDIM method; second, the inertia ratio and stiffness values are identified a first time, given the total inertia and friction of step 1, with a non linear programming algorithm; third, all dynamic parameters (inertia, stiffness, friction) of the flexible robot are more accurately identified all together a second time, starting from the values identified in step 1 and 2 and using DIDIM method. An experimental setup exhibits identification results and shows the effectiveness of this approach compared with a classical output error method.
Year
DOI
Venue
2012
10.3182/20120905-3-HR-2030.00102
IFAC Proceedings Volumes
Keywords
Field
DocType
closed loop identification,flexible robot,least squares,manipulator
Least squares,Joint stiffness,Torque,Control theory,Stiffness,Nonlinear programming,Quadratic equation,Inertia,Engineering,Robot
Conference
Volume
Issue
ISSN
45
22
1474-6670
Citations 
PageRank 
References 
0
0.34
9
Authors
4
Name
Order
Citations
PageRank
Maxime Gautier147776.28
A. Jubien2112.78
Alexandre Janot38612.37
Pierre-Philippe Robet411.38