Name
Title | ||
|---|---|---|
Global identification of mechanical and electrical parameters of DC motor driven joint with a fast CLOE method |
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 an asynchronous motor driven joint shows the effectiveness of the new procedure. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/AIM.2013.6584258 | Power Electronics and Applications |
Keywords | Field | DocType |
dc motors,least squares approximations,parameter estimation,robot dynamics,dc motor driven joint,bioinspired joint driven robot,closed loop output error method,closed-loop output error method,compliant controlled joint driven robot,electrical coupled dynamic identification,electrical parameter identification,fast cloe method,inverse dynamic identification model,linear least-squares technique,mechanical coupled dynamic identification,mechanical parameter identification,mathematical model,filtering,trajectory,estimation | Ac machine,Inverse,Mechanical dynamics,Control theory,Computer science,DC motor,Control engineering,Artificial intelligence,Estimation theory,Robot,Robotics | Conference |
Volume | Issue | ISSN |
25 | 2 | 2159-6247 |
ISBN | Citations | PageRank |
978-1-4673-5319-9 | 1 | 0.43 |
References | Authors | |
3 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Robet, P.P. | 1 | 4 | 0.88 |
| Maxime Gautier | 2 | 477 | 76.28 |
| Jubien, A. | 3 | 6 | 2.02 |
| Alexandre Janot | 4 | 86 | 12.37 |