Global identification of mechanical and electrical parameters of DC motor driven joint with a fast CLOE method
| العنوان: | Global identification of mechanical and electrical parameters of DC motor driven joint with a fast CLOE method |
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| المؤلفون: | P. Ph Robet, Anthony Jubien, Alexandre Janot, Maxime Gautier |
| المساهمون: | Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), ONERA - The French Aerospace Lab [Palaiseau], ONERA-Université Paris Saclay (COmUE) |
| المصدر: | IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Jul 2013, Wollongong, Australia. pp. 1205-1210, ⟨10.1109/AIM.2013.6584258⟩ IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Jul 2013, Wollongong, Australia. pp.1205-1210, ⟨10.1109/AIM.2013.6584258⟩ AIM |
| بيانات النشر: | HAL CCSD, 2013. |
| سنة النشر: | 2013 |
| مصطلحات موضوعية: | 0209 industrial biotechnology, Engineering, Estimation theory, business.industry, Inverse, Control engineering, robot, 02 engineering and technology, 01 natural sciences, DC motor, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 010104 statistics & probability, Identification (information), Model method, 020901 industrial engineering & automation, Control theory, Robot, identification, Mechanical dynamics, 0101 mathematics, business, Joint (audio engineering), ComputingMilieux_MISCELLANEOUS |
| الوصف: | International audience; 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. |
| اللغة: | English |
| DOI: | 10.1109/AIM.2013.6584258⟩ |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_dedup___::c18272994a8dcff0fd26db06fe111935 https://hal.archives-ouvertes.fr/hal-01170764 |
| رقم الانضمام: | edsair.doi.dedup.....c18272994a8dcff0fd26db06fe111935 |
| قاعدة البيانات: | OpenAIRE |
| DOI: | 10.1109/AIM.2013.6584258⟩ |
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