Identification of joint stiffness with bandpass filtering

@article{Pham2001IdentificationOJ,
  title={Identification of joint stiffness with bandpass filtering},
  author={Minh Tu Pham and Maxime Gautier and Philippe Poignet},
  journal={Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)},
  year={2001},
  volume={3},
  pages={2867-2872 vol.3}
}
Proposes a method to identify the joint stiffness of a robot using a bandpass filter. 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 identified. These parameters are estimated using the least squares solution of an over determined linear system obtained from the sampling of the dynamic model along a closed loop tracking trajectory. Conditions for a good data processing before… CONTINUE READING

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