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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.
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https://hal-supelec.archives-ouvertes.fr/hal-00747327
Contributor : Josiane Dartron <>
Submitted on : Wednesday, October 31, 2012 - 9:27:29 AM
Last modification on : Wednesday, March 18, 2020 - 9:34:14 AM

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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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