根据测量结果确定试验关节刚度

IEEE Conference on Decision and Control and European Control Conference Pub Date : 2011-12-12 DOI:10.1109/CDC.2011.6160402

A. Janot, M. Gautier, A. Jubien, P. Vandanjon

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引用次数: 12

摘要

本文讨论了关节柔韧性识别的重要问题。比较了三种基于测量可用性的动态模型。通过对动态模型沿闭环跟踪轨迹采样得到的过线性系统的普通最小二乘估计参数。实验装置展示了实验识别结果。

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Experimental joint stiffness identification depending on measurements availability

This paper addresses the important topic of joint flexibility identification. Three dynamic models depending on measurements availability are compared. The parameters are estimated by using the ordinary least squares of an over linear system obtained from the sampling of the dynamic model along a closed loop tracking trajectory. An experimental setup exhibits the experimental identification results.

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IEEE Conference on Decision and Control and European Control Conference

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