Experimental Joint Stiffness Identification Depending on Measurements Availability

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.
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Communication dans un congrès
IEEE Conference on Decision and Control and European Control Conference (CDC-ECC), Dec 2011, Orlando, United States. pp.5112-5117, 2011, 〈10.1109/CDC.2011.6160402〉
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https://hal.archives-ouvertes.fr/hal-00656825
Contributeur : Anthony Jubien <>
Soumis le : jeudi 5 janvier 2012 - 11:35:09
Dernière modification le : vendredi 13 octobre 2017 - 01:04:50

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Alexandre Janot, Maxime Gautier, Anthony Jubien, Pierre Olivier Vandanjon. Experimental Joint Stiffness Identification Depending on Measurements Availability. IEEE Conference on Decision and Control and European Control Conference (CDC-ECC), Dec 2011, Orlando, United States. pp.5112-5117, 2011, 〈10.1109/CDC.2011.6160402〉. 〈hal-00656825〉

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