Modeling of an elastic joint: an experimental setup approach

Pinto, Vítor H.; Lima, José; Gonçalves, José; Costa, Paulo Gomes da

http://hdl.handle.net/10198/24399

Use this identifier to reference this record.

Name:	Description:	Size:	Format:
elastic.pdf		2.59 MB	Adobe PDF	Download

Send Feedback

Authors

Pinto, Vítor H.

Lima, José

Gonçalves, José

Costa, Paulo Gomes da

Abstract(s)

Throughout this paper it is presented a novel elastic joint configuration, being compared with other similar joints found in recent literature. It is presented its modeling, being its estimation process developed offline, based on a proposed experimental setup. This setup enables to monitor and collect data from an absolute encoder and a load cell. Some data obtained from these sensors is then graphically represented, like angle and torque, obtaining some parameters. Finally, through an optimization process, where the error of the angle is minimized, the remaining parameters of the joint are estimated, thus obtaining a realistic model of the system.

Keywords

Elastic joint Modeling Experimental setup Parameter estimation Optimization

URI

http://hdl.handle.net/10198/24399

Citation

Pinto, Vítor H.; Lima, José; Gonçalves, José; Costa, Paulo Gomes da (2021). Modeling of an elastic joint: an experimental setup approach. In 14th APCA International Conference on Automatic Control and Soft Computing, CONTROLO 2020. Bragança, p. 676-685. ISBN 978-303058652-2