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.
Type de document :
Communication dans un congrès
50th IEEE Conference on Decision and Control and European Control Conference, Dec 2011, France. pp 5112-5117, 2011
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https://hal.archives-ouvertes.fr/hal-00973430
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Soumis le : vendredi 4 avril 2014 - 11:15:40
Dernière modification le : vendredi 13 octobre 2017 - 01:04:50

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  • HAL Id : hal-00973430, version 1

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Alexandre Janot, Maxime Gautier, A Jubien, Pierre Olivier Vandanjon. Experimental Joint Stiffness Identification Depending on Measurements Availability. 50th IEEE Conference on Decision and Control and European Control Conference, Dec 2011, France. pp 5112-5117, 2011. 〈hal-00973430〉

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