| 摘要 |
<p>The invention relates to a method for identifying the behavior of a hinge of a robot arm or manipulator arm, which method comprises the step of selecting a behavior model linking the input torque and the output torque of the hinge, depending on operational parameters, of operating the hinge in such a manner as to measure several operational points (input torque/output torque), and perform a regression to identify the parameters of the model, and thus determine at least one of the direct or indirect characteristics of the hinge. According to the invention, the behavior model retained includes dry friction having a first component which does not depend on the output torque, and a second component which depends on the output torque of the hinge.</p> |
