5. Three identification methods
5.1 IDIM-LS method
The first work on dynamic robot identification dates back to 1984. Currently, the IDIM-LS (Inverse Dynamic Identification Model with Least Squares) method is used to identify can be considered the reference method. It was introduced by Maxime Gautier in 1986. , then developed by the same author and his students and colleagues for almost 40 years and continuing to this day. The idea...
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Three identification methods
Experimental application on the TX40 robot
Bibliography
- (1) - KHALIL (W.), DOMBRE (E.) - Modeling, identification and control of robots. - - Butterworth-Heinemann (2004).
- (2) - ARMSTRONG-HELOUVRY (B.), DUPONT (P.), DE WIT (C.C.) - A survey of models : analysis tools and compensation methods for the control of machines with friction. - Automatica, 30(7) :1083–1138...
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