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In this paper, the robust identification problem of the flexible-joint stiffness is studied. A new identification method for the linear joint stiffness dynamics is established. To achieve the robustness, a feedback matrix M is used for the measurable outputs to reconstruct the input signals such that the closed-loop system of the new input and output is robust stable. Then based on this new stable system, the identification method is established and the robust identification result is achieved.

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Robust Identification of the Flexible-Joint Stiffness for Space Manipulators

  • 会议论文

  • 发表日期：

    2026年

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  • Xiaoqi Li,
  • Mingxing Li,
  • Tongtong Li,
  • Hao Zhang,
  • Chenlong Li

摘要

In this paper, the robust identification problem of the flexible-joint stiffness is studied. A new identification method for the linear joint stiffness dynamics is established. To achieve the robustness, a feedback matrix M is used for the measurable outputs to reconstruct the input signals such that the closed-loop system of the new input and output is robust stable. Then based on this new stable system, the identification method is established and the robust identification result is achieved.