Title :
Accelerometer based identification of mechanical systems
Author :
Pham, M.T. ; Gautier, M. ; Poignet, Ph.
Author_Institution :
Inst. de Recherche en Commun. et Cybernetique de Nantes, CNRS, Nantes, France
Abstract :
Deals with a comparison of sensor location and nature in the identification of physical parameters for mechanical systems with lumped elasticities. The identification model is a linear model in relation to a minimal set of parameters. The dynamic parameters are estimated by using the solution of weighted least squares of an over determined linear system obtained from the sampling of the dynamic model along a closed loop tracking trajectory. An experimental study exhibits the identification results depending on two types of sensors (position, acceleration) and different locations (motor, load).
Keywords :
closed loop systems; least squares approximations; parameter estimation; position control; acceleration sensors; accelerometer based identification; closed loop tracking trajectory; dynamic model; identification model; linear model; lumped elasticities; mechanical systems; physical parameters; position sensors; sensor location; Accelerometers; Elasticity; Least squares approximation; Linear systems; Mechanical sensors; Mechanical systems; Parameter estimation; Sampling methods; Sensor systems; Tracking loops;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1014433