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• W2034919511 abstract "This paper proposes a control-oriented modeling and identification framework for flexible-joint robot arms using motor-side measurements only. From the perspective of model-based control strategies including an inner feedback linearization loop, the proposed method allows an explicit treatment of the vibrational behavior induced by the flexibilities. A theoretical model of the partially decoupled system is derived and a frequency-domain identification procedure allowing an estimation of the flexible parameters is detailed. The obtained description of the system is experimentally validated on the CEA lightweight robot arm ASSIST." @default.
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• W2034919511 date "2012-07-01" @default.
• W2034919511 modified "2023-10-14" @default.
• W2034919511 title "A Frequency-Domain Approach for Flexible-Joint Robot Modeling and Identification" @default.
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• W2034919511 doi "https://doi.org/10.3182/20120711-3-be-2027.00127" @default.
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