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Conference papers

Accelerometer Based Identification of Mechanical Systems

Philippe Poignet 1 Minh Tu Pham 2 Matthieu Gautier 3
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 CAIRN - Energy Efficient Computing ArchItectures with Embedded Reconfigurable Resources
Inria Rennes – Bretagne Atlantique , IRISA-D3 - ARCHITECTURE
Abstract : Deals with a comparison of sensor location and nature in the identification of physical parameters for mechanical systems with lumped elasticities. The identification model is a linear model in relation to a minimal set of parameters. The dynamic parameters are estimated by using the solution of weighted least squares of an over determined linear system obtained from the sampling of the dynamic model along a closed loop tracking trajectory. An experimental study exhibits the identification results depending on two types of sensors (position, acceleration) and different locations (motor, load).
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Contributor : Christine Carvalho de Matos <>
Submitted on : Tuesday, April 1, 2008 - 9:27:38 AM
Last modification on : Monday, September 13, 2021 - 2:44:03 PM



Philippe Poignet, Minh Tu Pham, Matthieu Gautier. Accelerometer Based Identification of Mechanical Systems. ICRA, 2002, Washington DC, United States. pp.4293-4298, ⟨10.1109/ROBOT.2002.1014433⟩. ⟨lirmm-00268522⟩



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