Identification methodology of a robot with flexible arms

摘要

We summarize in this paper an orginal method to estimate the dynamic parameters in a nonlinear model of manipualtor with elastic parts. Kinematics are presented together with some of its characteristics such as the possible use of curvature as generalised coordinates and a description with augmented bodies. We apply this kinematics to a particular case of bodies that undergo flexions in order to present how time-varying dynamic parameters can be developped in terms of time-invariant functions of the density of the flexible bodies. We also sketch the equations of the dynamic model from which the identification regressor is extracted. Finally we exhibit the parameters that can be estimated in the case of a two-link robot.