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Global identification of mechanical and electrical parameters of asynchronous motor driven joint with a fast CLOE method
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| Author(s) |
Pierre-philippe ROBET, Maxime GAUTIER |
| 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 an asynchronous motor driven joint shows the effectiveness of the new procedure. |
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| Filename: | 0225-epe2013-full-11590912.pdf |
| Filesize: | 280.3 KB |
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| Type |
Members Only |
| Date |
Last modified 2014-02-09 by System |
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