Identification of single flexible-joint robot dynamics: a nonparametric approach

被引：0

作者：

Boukhebouz, Bassem ^{[1
,2
,3
]}

Mercere, Guillaume ^{[4
]}

Grossard, Mathieu ^{[5
]}

Lamy, Xavier ^{[5
]}

Laroche, Edouard ^{[6
]}

机构：

[1] CEA LIST, Palaiseau, France

[2] Univ Strasbourg, Interact Robot Lab, Palaiseau, France

[3] ICube Lab, Palaiseau, France

[4] Univ Poitiers, LIAS Lab, Poitiers, France

[5] CEA LIST, Interact Robot Lab, Palaiseau, France

[6] Univ Strasbourg, ICube Lab, Strasbourg, France

来源：

2020 28TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED) | 2020年

关键词：

System identification; frequency domain; nonlinear distortions; flexible joint robots; OPERATIONAL-AMPLIFIERS;

D O I：

10.1109/med48518.2020.9182999

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 provide the 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.

引用

页码：357 / 362

页数：6

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