Accelerometer Based Identification of Mechanical Systems

Philippe Poignet 1 Minh Tu Pham 2 Matthieu Gautier 3
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 CAIRN - Energy Efficient Computing ArchItectures with Embedded Reconfigurable Resources
Inria Rennes – Bretagne Atlantique , IRISA-D3 - ARCHITECTURE
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).
Type de document :
Communication dans un congrès
ICRA: International Conference on Robotics and Automation, 2002, Washington, United States. 4, pp.4293-4298, 2002, 〈10.1109/ROBOT.2002.1014433〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00268522
Contributeur : Christine Carvalho de Matos <>
Soumis le : mardi 1 avril 2008 - 09:27:38
Dernière modification le : jeudi 24 mai 2018 - 15:59:21

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Philippe Poignet, Minh Tu Pham, Matthieu Gautier. Accelerometer Based Identification of Mechanical Systems. ICRA: International Conference on Robotics and Automation, 2002, Washington, United States. 4, pp.4293-4298, 2002, 〈10.1109/ROBOT.2002.1014433〉. 〈lirmm-00268522〉

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