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A Robotics-Based Testbed for Verifying a Systematic Method of Identifying Contact-Dynamics Model Parameters

[+] Author Affiliations
Ou Ma, Jong H. Kim

New Mexico State University, Las Cruces, NM

Paper No. DETC2007-35092, pp. 413-422; 10 pages
  • ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C
  • Las Vegas, Nevada, USA, September 4–7, 2007
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4806-X | eISBN: 0-7918-3806-4
  • Copyright © 2007 by ASME


Contact-dynamics simulations are increasingly being used in industry for enhancing product design and operation. Simulation accuracy depends not only on the simulation tools (i.e., formulation, algorithms, and computer codes) but also on the model parameters used in the simulation. Determination of contact-dynamics model parameters for a complex dynamic system is challenging. It is desirable to have a systematic method which can identify multiple model parameters directly from the physical test of the involved contact hardware. This paper describes a robotics-based experimental testbed which is specially designed for study and verification of a systematic method of identifying key parameters of multiple-point contact-dynamics models. The identification method can identify the stiffness, damping, and friction parameters all together from system-level hardware tests. The basic requirements of the testbed and how they are met by the design of the testbed are described. Some results of the preliminary test of the testbed obtained so far are also included.

Copyright © 2007 by ASME



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