Global identification of mechanical and electrical parameters of DC motor driven joint with a fast CLOE method

Abstract : In many cases of new actuation of compliant controlled or bio-inspired joint driven robot, a global identification of electrical and mechanical coupled dynamics is required. This paper proposes a technique which mixes a closed loop output error method with the inverse dynamic identification model method which allows using linear least-squares technique to estimate the parameters. A first approach which has been validated on a DC motor allows a decoupled identification of the electrical and mechanical dynamics but fails to make a simultaneous identification. A major improvement of that method is proposed to carry out the coupled identification of both mechanical and electrical parameters. A validation on a DC motor driven joint shows the effectiveness of the new procedure.
keyword : identification robot
Type de document :
Communication dans un congrès
IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Jul 2013, Wollongong, Australia. pp.1205-1210, 2013, <10.1109/AIM.2013.6584258>
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https://hal.archives-ouvertes.fr/hal-00877573
Contributeur : Anthony Jubien <>
Soumis le : lundi 28 octobre 2013 - 19:48:50
Dernière modification le : mercredi 4 janvier 2017 - 16:24:12

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Pierre-Philippe Robet, Maxime Gautier, Anthony Jubien, Alexandre Janot. Global identification of mechanical and electrical parameters of DC motor driven joint with a fast CLOE method. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Jul 2013, Wollongong, Australia. pp.1205-1210, 2013, <10.1109/AIM.2013.6584258>. <hal-00877573>

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