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In the case of flexible robots we cannot apply the methods used in the case of rigid robots for the determination of exciting trajectories. Indeed the elastic degrees of freedom are not controllable: they are linked to the actuated degrees of freedom by a system of differential equations. Moreover it appears that some of the base parameters are not identifiable whatever the trajectory of identification is. This paper presents a heuristic method to find exciting trajectories in the case of a one flexible link planar robot and we propose a new method to determine those of the minimal parameters which are not identifiable. Some results of identification are presented and discussed. 1.IntroductionWe have a model of knowledge for the flexible robot. This model used to command the robot depends on some physical parameters of which it is necessary to determine the numerical values. Several techniques can be considered to achieve them. a) from geometric considerations and data given by the robots' constructors on the constituent elements of the robot, it is possible to get an evaluation parameters of the robot. The main disadvantage is linked to the necessity to dismantle the robot to do some measurements. Moreover the model parameter depends on the hypothesis of the modelization. b) We can use some identification techniques to determine the numerical values of the model's parameters. These techniques allow the parameters' determination on site and the numerical values which are found are those that allow the best correlation between the mathematical model and the process we have to command.Here we want to identify the base parameters of the flexible robot. Indeed, if the first method enables us to have a rough estimate of the parameters. It turns out to be in practice that, due to the simplifications done on the mathematical model versus the real one, these values are not the best to describe the behavior of the system. Besides it has been shown in [1,2] that the dynamic models are very sensitive to error made on the inertial parameters determination. We have chosen a model of knowledge instead of a representation model. The models of knowledge and the identification of their parameters have been extensively studied in the case of rigid robots [3,4,5]. In this article we expose the methodology used in the case of flexible robotsIn the first part we give the identification models which are deducted from the total energy variation principles applied to the robot [6,7]. The second part is dedicated to the identification of the parameters. We define and search exciting trajectories for the set of parameters we want to identify. This research allows us to eliminate from the model the parameters whose contribution is negligible and to improve the determination of the other parameters. Finally we present some simulation results. 2.Energy identification model Identification modelThe energy model is linear with respect to a set of inertial and stiffness parameters which are called the standard set of parameters of the flexible r...
In the case of flexible robots we cannot apply the methods used in the case of rigid robots for the determination of exciting trajectories. Indeed the elastic degrees of freedom are not controllable: they are linked to the actuated degrees of freedom by a system of differential equations. Moreover it appears that some of the base parameters are not identifiable whatever the trajectory of identification is. This paper presents a heuristic method to find exciting trajectories in the case of a one flexible link planar robot and we propose a new method to determine those of the minimal parameters which are not identifiable. Some results of identification are presented and discussed. 1.IntroductionWe have a model of knowledge for the flexible robot. This model used to command the robot depends on some physical parameters of which it is necessary to determine the numerical values. Several techniques can be considered to achieve them. a) from geometric considerations and data given by the robots' constructors on the constituent elements of the robot, it is possible to get an evaluation parameters of the robot. The main disadvantage is linked to the necessity to dismantle the robot to do some measurements. Moreover the model parameter depends on the hypothesis of the modelization. b) We can use some identification techniques to determine the numerical values of the model's parameters. These techniques allow the parameters' determination on site and the numerical values which are found are those that allow the best correlation between the mathematical model and the process we have to command.Here we want to identify the base parameters of the flexible robot. Indeed, if the first method enables us to have a rough estimate of the parameters. It turns out to be in practice that, due to the simplifications done on the mathematical model versus the real one, these values are not the best to describe the behavior of the system. Besides it has been shown in [1,2] that the dynamic models are very sensitive to error made on the inertial parameters determination. We have chosen a model of knowledge instead of a representation model. The models of knowledge and the identification of their parameters have been extensively studied in the case of rigid robots [3,4,5]. In this article we expose the methodology used in the case of flexible robotsIn the first part we give the identification models which are deducted from the total energy variation principles applied to the robot [6,7]. The second part is dedicated to the identification of the parameters. We define and search exciting trajectories for the set of parameters we want to identify. This research allows us to eliminate from the model the parameters whose contribution is negligible and to improve the determination of the other parameters. Finally we present some simulation results. 2.Energy identification model Identification modelThe energy model is linear with respect to a set of inertial and stiffness parameters which are called the standard set of parameters of the flexible r...
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