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Conference Papers Year : 2012

A Frequency-Domain Approach for Flexible-Joint Robot Modeling and Identification

Abstract

This paper proposes a control-oriented modeling and identification framework for flexible-joint robot arms using motor-side measurements only. From the perspective of model-based control strategies including an inner feedback linearization loop, the proposed method allows an explicit treatment of the vibrational behavior induced by the flexibilities. A theoretical model of the partially decoupled system is derived and a frequency-domain identification procedure allowing an estimation of the flexible parameters is detailed. The obtained description of the system is experimentally validated on the CEA lightweight robot arm ASSIST.

Dates and versions

hal-00747327 , version 1 (31-10-2012)

Identifiers

Cite

Maria Makarov, M. Grossard, Pedro Rodriguez-Ayerbe, Didier Dumur. A Frequency-Domain Approach for Flexible-Joint Robot Modeling and Identification. SYSID2012, Jul 2012, Bruxelles, Belgium. pp.583-588, ⟨10.3182/20120711-3-BE-2027.00127⟩. ⟨hal-00747327⟩
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