Quantifying Joint Stiffness During Movement: A Quantitative Comparison of Time-Varying System Identification Methods

2021 ◽  
pp. 513-518
Author(s):  
Mark van de Ruit ◽  
Winfred Mugge ◽  
Alfred C. Schouten
Keyword(s):  
System Identification ◽  
Joint Stiffness ◽  
Quantitative Comparison ◽  
Time Varying ◽  
Identification Methods

scholarly journals Quantitative comparison of time-varying system identification methods to describe human joint impedance

2021 ◽  
Author(s):  
Mark van de Ruit ◽  
Winfred Mugge ◽  
Gaia Cavallo ◽  
John Lataire ◽  
Daniel Ludvig ◽  
...  
Keyword(s):  
System Identification ◽  
Quantitative Comparison ◽  
Time Varying ◽  
Identification Methods ◽  
Human Joint

System Identification Methods for Improving Flutter Flight Test Techniques

2004 ◽  
Author(s):  
David Klyde ◽  
Chuck Harris ◽  
Peter M. Thompson ◽  
Edward N. Bachelder
Keyword(s):  
System Identification ◽  
Flight Test ◽  
Identification Methods

Experimental evaluation of time-varying impulse shaping with a two-link flexible manipulator

Robotica ◽  
1996 ◽  
Vol 14 (3) ◽  
pp. 339-345 ◽  
Author(s):  
Jung-Keun Cho ◽  
Youn-Sik Park
Keyword(s):  
Vibration Reduction ◽  
Vertical Plane ◽  
Joint Stiffness ◽  
Flexible Manipulator ◽  
Input Shaping ◽  
Time Varying ◽  
Modal Properties ◽  
Revolute Joints ◽  
Point Motion ◽  
Point To Point

SUMMARYIn the authors' previous paper,10 an input shaping method was presented to reduce motion-induced vibrations effectively for various classes of flexible systems. In this paper, the effectiveness of the shaping method is experimentally demonstrated with a two-link flexible manipulator systemThe manipulator for experiments includes two revolute joints and two flexible links, and moves on a vertical plane under gravity. An analytic model is developed considering the flexibility of the system and its joint stiffness in order to derive an appropriate estimation of dynamic modal properties. The input shaping method used in this work utilizes time-varying modal properties obtained from the model instead of the conventional input shaping method which employs time-invariant modal properties. A point-to-point motion is tested in order to show the effectivess of the proposed shaping method in vibration reduction during and after a given motion. The given reference trajectories are shaped to suppress the motion induced vibration. The test results demonstrate that the link vibration can be greatly suppressed during and after a motion, and the residual vibration reduction was observed more than 90% by employing this time-varying impulse shaping technique.

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