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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) |
P. Ph. Robet; M. 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 for the use of linear least-squares technique to estimate the parameters. A first approach which has been validated on a DC motor achieves 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: | Unnamed file |
| Filesize: | 1.764 MB |
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| Type |
Members Only |
| Date |
Last modified 2017-01-18 by System |
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