Modeling of an elastic joint: An experimental setup approach

• Type: Article in International Conference Proceedings Book
• Date: 2021

Authors

Vítor H. Pinto (Author) FEUP; José Lima (Author) Other; José Gonçalves (Author) Other; Paulo Gomes da Costa (Author) FEUP

Conference proceedings International

Title: Lecture Notes in Electrical Engineering

Pages: 676-685

14th APCA International Conference on Automatic Control and Soft Computing, CONTROLO 2020

1 July 2020 through 3 July 2020

Indexing

Scopus - 0 Citations

Other information

Authenticus ID: P-00S-NXN

DOI: 10.1007/978-3-030-58653-9_65

Abstract (EN): 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. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2021.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 10