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- W2589054073 abstract "In many cases of new actuation of compliant controlled or bio-inspired joint driven robot, a global identification of electrical and mechanical coupled dynamics is required. This paper proposes a technique which mixes a closed loop output error method with the inverse dynamic identification model method, which allows for the use of linear least-squares technique to estimate the parameters. A first approach which has been validated on a DC motor achieves a decoupled identification of the electrical and mechanical dynamics but fails to make a simultaneous identification. A major improvement of that method is proposed to carry out the coupled identification of both mechanical and electrical parameters. A validation on an asynchronous motor driven joint shows the effectiveness of the new procedure." @default.
- W2589054073 created "2017-02-24" @default.
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- W2589054073 date "2015-06-01" @default.
- W2589054073 modified "2023-10-13" @default.
- W2589054073 title "Global Identification of Mechanical and Electrical Parameters of Asynchronous Motor Driven Joint with a Fast CLOE Method" @default.
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- W2589054073 doi "https://doi.org/10.1080/09398368.2015.11835470" @default.
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