Robust Identification of the Flexible-Joint Stiffness for Space Manipulators
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.