Torque-curvature relation based identification of manipulators with flexible arms

摘要

We summarize in this paper an original method to estimate the dynamic parameters of a non-linear model of manipulator with elastic parts. We first present the kinematics and highlight some of its characteristics such as the use of curvature for generalised coordinates and the choice of a description with augmented bodies and the corresponding barycentric parameters. We also sketch the equations of the dynamic model from which the identification regressor is extracted. Then we point out several advantages of the developed identification model applying it to an experimental two link flexible robot.