Joint Stiffness Identification: a Three-Parameter Joint Model of Cantilever Beam
نویسندگان
چکیده
منابع مشابه
Identification of Joint Stiffness with Bandpass Filtering
This paper proposes a method to identify the joint sti ness of a robot using a bandpass lter. It is based on moving one axis at a time. The dynamic model reduces to a model which is linear in relation to a minimum set of dynamical parameters which have to be identi ed. These parameters are estimated using the least squares solution of an over determined linear system obtained from the sampling ...
متن کاملJoint stiffness identification of industrial serial robots
HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau...
متن کاملModel-Based Estimation of Ankle Joint Stiffness
We address the estimation of biomechanical parameters with wearable measurement technologies. In particular, we focus on the estimation of sagittal plane ankle joint stiffness in dorsiflexion/plantar flexion. For this estimation, a novel nonlinear biomechanical model of the lower leg was formulated that is driven by electromyographic signals. The model incorporates a two-dimensional kinematic d...
متن کاملParticle Swarm Optimization Based Parameter Identification Applied to a Target Tracker Robot with Flexible Joint
This paper focuses on parameter identification of a target tracker robot possessing flexible joints using particle swarm optimization (PSO) algorithm. Since, belt and pulley mechanisms are known as flexible joints in robotic systems, their elastic behavior affecting a tracker robot is investigated in this work. First, dynamic equations governing the robot behavior are extracted taking into acco...
متن کاملLinear Parameter Varying Identification of Dynamic Joint Stiffness during Time-Varying Voluntary Contractions
Dynamic joint stiffness is a dynamic, nonlinear relationship between the position of a joint and the torque acting about it, which can be used to describe the biomechanics of the joint and associated limb(s). This paper models and quantifies changes in ankle dynamic stiffness and its individual elements, intrinsic and reflex stiffness, in healthy human subjects during isometric, time-varying (T...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: The International Journal of Acoustics and Vibration
سال: 2017
ISSN: 1027-5851,2415-1408
DOI: 10.20855/ijav.2017.22.1445