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A Fast Online Estimator of the Main Vibration Mode of Mechanisms from a Biased Slightly Damped Signal

In this article, two algorithms are proposed to identify the parameters of elastic mechanical slightly damped systems with one dominant vibration mode, which are robust to sensor offset. The identification algorithms are obtained using the algebraic identification framework. The first one differentiates the input and the output signals in order to remove the sensor offset disturbances from the estimation procedure. The second one is more complex because it includes the offset in the dynamics used in the algebraic estimator. They are applied and evaluated on one degree of freedom flexible robot. Experiments proved the effectiveness of both algorithms but they showed that the second one yields a much faster estimation of the parameters.