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Communication Dans Un Congrès Année : 2011

Joint Stiffness Identification from only Motor Force/Torque Data

Résumé

This paper deals with joint stiffness identification with only actual motor force/torque data instead of motor and load positions. The parameters are estimated by using the DIDIM method which needs only input data. This method was previously validated on a 6 DOF rigid robot and is now extended to flexible systems. The criterion to be minimized is the quadratic error between the measured actual motor force/torque and the simulated one. The optimal parameters are calculated with the Nelder - Mead simplex algorithm. An experimental setup exhibits the experimental identification results and shows the effectiveness of our approach.
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Dates et versions

hal-00656818 , version 1 (05-01-2012)

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Maxime Gautier, Alexandre Janot, Anthony Jubien, Pierre Olivier Vandanjon. Joint Stiffness Identification from only Motor Force/Torque Data. IEEE Conference on Decision and Control and European Control Conference (CDC-ECC), Dec 2011, Orlando, United States. pp.5088-5093, ⟨10.1109/CDC.2011.6160589⟩. ⟨hal-00656818⟩
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