مؤتمر
Identification of single flexible-joint robot dynamics: a nonparametric approach
| العنوان: | Identification of single flexible-joint robot dynamics: a nonparametric approach |
|---|---|
| المؤلفون: | Boukhebouz, Bassem, Mercère, Guillaume, Grossard, Mathieu, Lamy, Xavier, Laroche, Edouard |
| المساهمون: | Laboratoire d'informatique et d'automatique pour les systèmes EA 6315 (LIAS Poitiers ), Université de Poitiers = University of Poitiers (UP)-École Nationale Supérieure de Mécanique et d’Aérotechnique Poitiers (ISAE-ENSMA ), Université de Poitiers = University of Poitiers (UP), Laboratoire d'informatique et d'automatique pour les systèmes (LIAS Poitiers ) |
| المصدر: | 2020 28th Mediterranean Conference on Control and Automation (MED) https://hal.science/hal-04362768Test 2020 28th Mediterranean Conference on Control and Automation (MED), Sep 2020, Saint-Raphaël, France. pp.357-362, ⟨10.1109/MED48518.2020.9182999⟩ |
| بيانات النشر: | HAL CCSD IEEE |
| سنة النشر: | 2020 |
| المجموعة: | Université de Poitiers: Publications de nos chercheurs.ses (HAL) |
| مصطلحات موضوعية: | System identification, frequency domain, non- linear distortions, flexible joint robots, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering |
| جغرافية الموضوع: | Saint-Raphaël, France |
| الوصف: | International audience ; In this paper, a nonparametric identification method is used to identify the dynamic model of a flexible joint robot (FJR) that includes friction and transmission nonlinearities. More precisely, the Best Linear Approximation (BLA) approach has been considered in a closed-loop setup to providethe frequency response of the system and an evaluation of the nonlinearities. Based on simulated data, the paper investigates the tuning of an adequate multisine excitation signal that enables good identification results. First, an algorithm is adapted in order to shape the spectrum of the control signal adequately. Second, based on an evaluation of the effects on the Coulomb friction and transmission nonlinearity, it is showed that an optimal amplitude can be found. |
| نوع الوثيقة: | conference object |
| اللغة: | English |
| العلاقة: | hal-04362768; https://hal.science/hal-04362768Test |
| DOI: | 10.1109/MED48518.2020.9182999 |
| الإتاحة: | https://doi.org/10.1109/MED48518.2020.9182999Test https://hal.science/hal-04362768Test |
| رقم الانضمام: | edsbas.2B0E9206 |
| قاعدة البيانات: | BASE |
| DOI: | 10.1109/MED48518.2020.9182999 |
|---|