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Communication Dans Un Congrès Année : 2011

Identification of a robot manipulator based on an adaptive higher order sliding modes differentiator

Lilia Sidhom
  • Fonction : Auteur
  • PersonId : 859510
Minh Tu Pham
Fanny Thévenoux
  • Fonction : Auteur

Résumé

In this paper, a dynamic identification method for a robot manipulator is investigated. A robust adaptive differentiator based on higher order sliding modes is used to estimate the state of the system. A theoretical proof of the convergence of this robust differentiator is given. A frequency analysis in term of filtering is provided and a comparison with a filter based on a classical differentiator is carried out. The dynamic parameters are estimated using the recursive least squares solution of a linear system obtained from the sampling of the dynamic model along a closed loop tracking trajectory. An experimental validation is performed on a robot manipulator and compared to another identification method.
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Dates et versions

hal-00579803 , version 1 (25-03-2011)

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Lilia Sidhom, Minh Tu Pham, Fanny Thévenoux, Maxime Gautier. Identification of a robot manipulator based on an adaptive higher order sliding modes differentiator. AIM, Jul 2010, Montréal, Canada. pp.1093-1098, ⟨10.1109/AIM.2010.5695898⟩. ⟨hal-00579803⟩
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