Estimation of the synchronous drive electrical parameters
- 28 September 1995
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 514-519
- https://doi.org/10.1109/cca.1995.555775
Abstract
International audienceBecause of increasing joint speed and acceleration of complex mechanical structures such as rigid and flexible robotics manipulators, accurate models of joints with electric drives are needed to improve their simulation and their control. The authors proposed a new way to identify the electrical parameters of a robot driven by a synchronous machine. A closed loop identification of an inverse model which is linear in relation to the parameters is performed using least squares techniques and exciting trajectories of current. These current trajectories minimize a criterion which is function of the condition number of an observation matrix. Experimental results are giveKeywords
This publication has 7 references indexed in Scilit:
- New criteria of exciting trajectories for robot identificationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Identification of the dynamic parameters of a closed loop robotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Exciting Trajectories for the Identification of Base Inertial Parameters of RobotsThe International Journal of Robotics Research, 1992
- Recursive Least Squares Rotor Time Constant Identification for Vector Controlled lnduction MachineElectric Machines & Power Systems, 1992
- Numerical calculation of the base inertial parameters of robotsJournal of Robotic Systems, 1991
- Direct calculation of minimum set of inertial parameters of serial robotsIEEE Transactions on Robotics and Automation, 1990
- Control of Electrical DrivesPublished by Springer Nature ,1985