A New Method for the Identification of Flexible Joint Manipulators Using Motor Force/torque Data

Abstract : This paper deals with joint stiffness identification with new closed loop output error method which minimizes the quadratic error between the actual motor force/torque and the simulated one. This method called DIDIM (Direct and Inverse Identification Model) was previously validated on rigid robots and is now extended to a flexible joint manipulator. DIDIM method is derived into a three-step identification procedure: first, the rigid dynamic model is identified with DIDIM method; second, the inertia ratio and stiffness values are identified a first time, given the total inertia and friction of step 1, with a non linear programming algorithm; third, all dynamic parameters (inertia, stiffness, friction) of the flexible robot are more accurately identified all together a second time, starting from the values identified in step 1 and 2 and using DIDIM method. An experimental setup exhibits identification results and shows the effectiveness of this approach compared with a classical output error method.
Type de document :
Communication dans un congrès
IFAC Symposium on Robot Control (SYROCO), Sep 2012, Dubrovnik, Croatia. pp.19-24, 2012, <10.3182/20120905-3-HR-2030.00102>
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https://hal.archives-ouvertes.fr/hal-00751412
Contributeur : Anthony Jubien <>
Soumis le : mardi 13 novembre 2012 - 13:11:53
Dernière modification le : mercredi 4 janvier 2017 - 16:24:05

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Maxime Gautier, Anthony Jubien, Alexandre Janot, Pierre-Philippe Robet. A New Method for the Identification of Flexible Joint Manipulators Using Motor Force/torque Data. IFAC Symposium on Robot Control (SYROCO), Sep 2012, Dubrovnik, Croatia. pp.19-24, 2012, <10.3182/20120905-3-HR-2030.00102>. <hal-00751412>

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