Global identification of mechanical and electrical parameters of asynchronous motor driven joint with a fast CLOE method

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 me...

Full description

Saved in:
Bibliographic Details
Main Authors: Robet, P. Ph, Gautier, M.
Format: Conference Proceeding
Language:English
Subjects:
AC machine
DC motors
Equations
Estimation technique
Filtering
Joints
Mathematical model
measurement
robotics
Rotors
Stators
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary: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 using linear least-squares technique to estimate the parameters. A first approach which has been validated on a DC motor allows 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.
DOI:10.1109/EPE.2013.6631882