14th IFAC Symposium on System Identification, SYSID 2006

SYSID-2006 Paper Abstract

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Paper FrB3.1

Cuvillon, Loïc (LSIIT, Strasbourg Univ.), Laroche, Edouard (LSIIT, Strasbourg Univ.), Garnier, Hugues (Univ. Henri Poincaré, Nancy 1), Gangloff, Jacques (LSIIT, Strasbourg Univ.), de Mathelin, Michel (LSIIT, Strasbourg Univ.)

Continuous-Time Model Identification of Robot Flexibilities for Fast Visual Servoing

Scheduled for presentation during the Invited Session "Application Results of Continuous-Time Model Identification" (FrB3), Friday, March 31, 2006, 15:30−15:50, Hunter Room

14th IFAC Symposium on System Identification, March 29 - 31, 2006, Newcastle, Australia

This information is tentative and subject to change. Compiled on July 17, 2018

Keywords Mechanical and Aerospace, Continuous Time System Estimation, Identification for Control

Abstract

This paper presents a general methodology for identifying the dynamical part of the continuous-time model of an articulated arm including flexibilities dedicated to visual servoing. Based on this model, a H-infinity control law is designed and implemented, allowing to reach high dynamics.