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Author Mercere, Guillaume ♦ Lovera, Marco ♦ Laroche, Edouard
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2011
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Mathematical model ♦ Manipulators ♦ Equations ♦ Vectors ♦ Position measurement ♦ Interpolation
Abstract This paper presents a new approach for the identification of the dynamical model of flexible manipulators. The structure of the identified model, chosen as a descriptor LPV model, is derived from the original non-linear equations. A set of experiments around different configurations is involved, which is suitable for an accurate measurement of the tip of the manipulator by video camera. The final estimation step is global, allowing the direct identification of the global model based on the collection of local experimental data. In an output error context, a genetic algorithm is used for the minimization of the identification criterion. As a case study, a robotic arm with two flexible segments is considered. Identification results based on simulations including noise show the effectiveness of the approach.
Description Author affiliation: Dipartimento di Elettronica e Informazione, Politecnico di Milano, Italy (Lovera, Marco) || University of Strasbourg, Laboratoire des Sciences de l'Image de l'Informatique et de la Télédétection, boulevard S. Brant, B.P. 10413, 67412 Illkirch Cedex, France (Laroche, Edouard) || University of Poitiers, Laboratoire d'Automatique et d'Informatique Industrielle, 2 rue P. Brousse, bâtiment B25, B.P. 633, 86022 Cedex, France (Mercere, Guillaume)
ISBN 9781612848006
ISSN 07431546
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2011-12-12
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
e-ISBN 9781612848013
Size (in Bytes) 277.71 kB
Page Count 6
Starting Page 818
Ending Page 823


Source: IEEE Xplore Digital Library