Title :
Experimental joint stiffness identification depending on measurements availability
Author :
Janot, A. ; Gautier, M. ; Jubien, A. ; Vandanjon, P.O.
Author_Institution :
DCSD, ONERA, Toulouse, France
Abstract :
This paper addresses the important topic of joint flexibility identification. Three dynamic models depending on measurements availability are compared. The parameters are estimated by using the ordinary least squares of an over linear system obtained from the sampling of the dynamic model along a closed loop tracking trajectory. An experimental setup exhibits the experimental identification results.
Keywords :
closed loop systems; elasticity; least squares approximations; linear systems; parameter estimation; robot dynamics; closed loop tracking trajectory; dynamic models; experimental joint stiffness identification; joint flexibility identification; linear system; measurements availability; ordinary least squares; parameter estimation; Acceleration; Dairy products; Filtering; Friction; Joints; Load modeling; Torque;
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2011.6160402
