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Conference Papers Year : 2002

Accelerometer Based Identification of Mechanical Systems

Abstract

Deals with a comparison of sensor location and nature in the identification of physical parameters for mechanical systems with lumped elasticities. The identification model is a linear model in relation to a minimal set of parameters. The dynamic parameters are estimated by using the solution of weighted least squares of an over determined linear system obtained from the sampling of the dynamic model along a closed loop tracking trajectory. An experimental study exhibits the identification results depending on two types of sensors (position, acceleration) and different locations (motor, load).

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Dates and versions

lirmm-00268522 , version 1 (26-09-2022)

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Philippe Poignet, Minh Tu Pham, Matthieu Gautier. Accelerometer Based Identification of Mechanical Systems. ICRA 2002 - IEEE International Conference on Robotics and Automation, May 2002, Washington, DC, United States. pp.4293-4298, ⟨10.1109/ROBOT.2002.1014433⟩. ⟨lirmm-00268522⟩
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