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Östring, Måns
Publications (10 of 20) Show all publications
Gunnarsson, S. & Östring, M. (2004). Recursive Identification of Physical Parameters in a Flexible Robot Arm. Asian journal of control, 6, 407-414
Open this publication in new window or tab >>Recursive Identification of Physical Parameters in a Flexible Robot Arm
2004 (English)In: Asian journal of control, ISSN 1561-8625, E-ISSN 1561-8625, Vol. 6, p. 407-414Article in journal (Refereed) Published
Abstract [en]

Recursive identification of a physically parameterized model of a single link flexible robot arm is considered. The parameters are estimated using a recursive prediction error method applied to a linear continuous time model structure and discrete time data. The algorithm is applied to real data from an industrial robot, and three important parameters are identified using only measurements of the motor angle. The experiments show that the particular parameter that is estimated will have big influence on the algorithm behavior.

Place, publisher, year, edition, pages
John Wiley & Sons, 2004
Keywords
Recursive identification, Robotics, Physical parameters
National Category
Control Engineering
Identifiers
urn:nbn:se:liu:diva-22493 (URN)10.1111/j.1934-6093.2004.tb00216.x (DOI)1741 (Local ID)1741 (Archive number)1741 (OAI)
Available from: 2009-10-07 Created: 2009-10-07 Last updated: 2017-12-13
Östring, M., Gunnarsson, S. & Norrlöf, M. (2003). Closed-Loop Identification of an Industrial Robot Containing Flexibilities. Control Engineering Practice, 11(3), 291-300
Open this publication in new window or tab >>Closed-Loop Identification of an Industrial Robot Containing Flexibilities
2003 (English)In: Control Engineering Practice, ISSN 0967-0661, E-ISSN 1873-6939, Vol. 11, no 3, p. 291-300Article in journal (Refereed) Published
Abstract [en]

Closed-loop identification of an industrial robot of the type ABB IRB 1400 is considered. Data are collected when the robot is subject to feedback control and moving around axis one. Both black-box and physically parameterized models are identified. A main purpose is to model the mechanical flexibilities. It is found that a model consisting of three-masses connected by springs and dampers gives a good description of the dynamics of the robot.

Place, publisher, year, edition, pages
Elsevier, 2003
Keywords
Identification, Robotics, Flexible arm
National Category
Control Engineering
Identifiers
urn:nbn:se:liu:diva-29528 (URN)10.1016/S0967-0661(02)00114-4 (DOI)14886 (Local ID)14886 (Archive number)14886 (OAI)
Note

2002 Elsevier Science Ltd. All rights reserved.

Available from: 2009-10-09 Created: 2009-10-09 Last updated: 2017-12-13
Wernholt, E. & Östring, M. (2003). Modeling and Control of a Bending Backwards Industrial Robot. Linköping: Linköping University Electronic Press
Open this publication in new window or tab >>Modeling and Control of a Bending Backwards Industrial Robot
2003 (English)Report (Other academic)
Abstract [en]

In this work we have looked at various parts of modeling of robots. First the rigid body motion is studied, spanning from kinematics to dynamics and path and trajectory generation. We have also looked into how to extend the rigid body model with flexible gear-boxes and how this could be incorporated with Robotics Toolbox. A very simple feedforward control based on the rigid model is applied in addition to PID control and in the simulations the overshoot is halved compared to only PID control. We have also tried LQ control and in our simulations the effect of torque disturbances on the arm has been lowered by a factor five, compared to diagonal PID controllers.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2003. p. 38
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2522
Keywords
Modeling, Control, Robotics, Bend-over-backwards capability, Mechanical flexibilities
National Category
Control Engineering
Identifiers
urn:nbn:se:liu:diva-55809 (URN)LiTH-ISY-R-2522 (ISRN)
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-03Bibliographically approved
Norrlöf, M., Tjärnström, F., Östring, M. & Aberger, M. (2002). Modeling and Identification of a Mechanical Industrial Manipulator. In: Proceedings of Reglermöte 2002: . Paper presented at Reglermöte 2002, Linköping, Sweden, May, 2002 (pp. 250-255).
Open this publication in new window or tab >>Modeling and Identification of a Mechanical Industrial Manipulator
2002 (English)In: Proceedings of Reglermöte 2002, 2002, p. 250-255Conference paper, Published paper (Other academic)
Abstract [en]

This paper covers modeling and identification of one joint of an industrial robot manipulator including flexibilities. It is shown how models can be built in the Modelica graphical environment and how these models can be transformed into a mathematical state space description which directly can be used for identification. A motivation to use linear models for modeling of the robot arm is given. This includes an analysis of the nonlinearities in the input/output data from the actual robot using a special kind of input signal. Identification and validation of the physically parameterized models are also covered.

Keywords
Robot dynamics, System identification, Mechanical systems, Modeling, Industrial robots, Closed-loop identification
National Category
Control Engineering
Identifiers
urn:nbn:se:liu:diva-29597 (URN)14975 (Local ID)14975 (Archive number)14975 (OAI)
Conference
Reglermöte 2002, Linköping, Sweden, May, 2002
Available from: 2009-10-09 Created: 2009-10-09 Last updated: 2013-08-28
Norrlöf, M., Tjärnström, F., Östring, M. & Aberger, M. (2002). Modeling and Identification of a Mechanical Industrial Manipulator. In: Proceedings of the 15th IFAC World Congress: . Paper presented at 15th IFAC World Congress, Barcelona, Spain, July, 2002 (pp. 852-852).
Open this publication in new window or tab >>Modeling and Identification of a Mechanical Industrial Manipulator
2002 (English)In: Proceedings of the 15th IFAC World Congress, 2002, p. 852-852Conference paper, Published paper (Refereed)
Abstract [en]

This paper covers modeling and identification of one joint of an industrial robot manipulator including flexibilities. It is shown how models can be built in the Modelica graphical environment and how these models can be transformed into a mathematical state space description which directly can be used for identification. A motivation to use linear models for modeling of the robot arm is given. This includes an analysis of the nonlinearities in the input/output data from the actual robot using a special kind of input signal. Identification and validation of the physically parameterized models are also covered.

Keywords
Robot dynamics, System identification, Mechanical systems, Modeling, Industrial robots, Closed-loop identification
National Category
Control Engineering
Identifiers
urn:nbn:se:liu:diva-29593 (URN)10.3182/20020721-6-ES-1901.00854 (DOI)14971 (Local ID)978-3-902661-74-6 (ISBN)14971 (Archive number)14971 (OAI)
Conference
15th IFAC World Congress, Barcelona, Spain, July, 2002
Available from: 2009-10-09 Created: 2009-10-09 Last updated: 2013-08-28
Norrlöf, M., Tjärnström, F., Östring, M. & Aberger, M. (2002). Modeling and Identification of a Mechanical Industrial Manipulator. Linköping: Linköping University Electronic Press
Open this publication in new window or tab >>Modeling and Identification of a Mechanical Industrial Manipulator
2002 (English)Report (Other academic)
Abstract [en]

This paper covers modeling and identification of one joint of an industrial robot manipulator including flexibilities. It is shown how models can be built in the Modelica graphical environment and how these models can be transformed into a mathematical state space description which directly can be used for identification. A motivation to use linear models for modeling of the robot arm is given. This includes an analysis of the nonlinearities in the input/output data from the actual robot using a special kind of input signal. Identification and validation of the physically parameterized models are also covered.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2002. p. 8
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2437
Keywords
Robot dynamics, system identication, mechanical systems, modeling, industrial robots, closed-loop identication
National Category
Control Engineering
Identifiers
urn:nbn:se:liu:diva-55868 (URN)LiTH-ISY-R-2437 (ISRN)
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-02Bibliographically approved
Östring, M., Tjärnström, F. & Norrlöf, M. (2002). Modeling of Industrial Robot for Identification, Monitoring and Control. In: Proceedings of the 2002 International Symposium on Advanced Control of Industrial Processes. Paper presented at 2002 International Symposium on Advanced Control of Industrial Processes, Kumamoto, Japan, June, 2002.
Open this publication in new window or tab >>Modeling of Industrial Robot for Identification, Monitoring and Control
2002 (English)In: Proceedings of the 2002 International Symposium on Advanced Control of Industrial Processes, 2002Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we study the problem of a modeling, identifying, and monitoring an industrial robot. We start by showing how a robot can be modeled in increasing degree of accuracy using high end tools such as MathModelica. This model can be transformed semi-automatically into a minimal state-space form which in turn can be used for identification. Moreover, the physically connected equations can be identified recursively, making it possible to monitor critical parts of the robot. When attached to a well trimmed detection scheme this provides a big help for operators, who easily can track problems with the process.

Keywords
Physical modeling, Identification, Recursive identification, Monitoring, Detection
National Category
Engineering and Technology Control Engineering
Identifiers
urn:nbn:se:liu:diva-29595 (URN)14973 (Local ID)14973 (Archive number)14973 (OAI)
Conference
2002 International Symposium on Advanced Control of Industrial Processes, Kumamoto, Japan, June, 2002
Available from: 2009-10-09 Created: 2009-10-09 Last updated: 2013-04-07
Östring, M., Tjärnström, F. & Norrlöf, M. (2002). Modeling of Industrial Robot for Identification, Monitoring and Control. Linköping: Linköping University Electronic Press
Open this publication in new window or tab >>Modeling of Industrial Robot for Identification, Monitoring and Control
2002 (English)Report (Other academic)
Abstract [en]

In this paper we study the problem of a modeling, identifying, and monitoring an industrial robot. We start by showing how a robot can be modeled in increasing degree of accuracy using high end tools such as MathModelica. This model can be transformed semi-automatically into a minimal state-space form which in turn can be used for identification. Moreover, the physically connected equations can be identified recursively, making it possible to monitor critical parts of the robot. When attached to a well trimmed detection scheme this provides a big help for operators, who easily can track problems with the process.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2002. p. 8
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2439
Keywords
Physical modeling, Identification, Recursive identification, Monitoring, Detection
National Category
Control Engineering
Identifiers
urn:nbn:se:liu:diva-55870 (URN)LiTH-ISY-R-2439 (ISRN)
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-03Bibliographically approved
Gunnarsson, S. & Östring, M. (2002). Recursive Identification of Physical Parameters in a Flexible Robot Arm. In: Proceedings of the 4th Asian Control Conference. Paper presented at 4th Asian Control Conference, Singapore, Singapore, September, 2002.
Open this publication in new window or tab >>Recursive Identification of Physical Parameters in a Flexible Robot Arm
2002 (English)In: Proceedings of the 4th Asian Control Conference, 2002Conference paper, Published paper (Refereed)
Abstract [en]

Recursive identification of physically parameterized models of continuous time systems is considered. As an example a model of a single link flexible robot arm is considered. The aim of the identification is to generate on-line estimates of physical parameters that can be used for, e.g., diagnosis purposes. For evaluation the algorithm is applied to data from an industrial robot, and three important parameters are identified using only measurements of the motor angle.

Keywords
Robotics, Recursive identification, Physical parameters
National Category
Engineering and Technology Control Engineering
Identifiers
urn:nbn:se:liu:diva-91147 (URN)9789810464400 (ISBN)
Conference
4th Asian Control Conference, Singapore, Singapore, September, 2002
Available from: 2013-04-23 Created: 2013-04-17 Last updated: 2013-04-23
Gunnarsson, S. & Östring, M. (2002). Recursive Identification of Physical Parameters in a Flexible Robot Arm. In: Proceedings of Reglermöte 2002. Paper presented at Reglermöte 2002, Linköping, Sweden, 29-30 Maj 2002.
Open this publication in new window or tab >>Recursive Identification of Physical Parameters in a Flexible Robot Arm
2002 (English)In: Proceedings of Reglermöte 2002, 2002Conference paper, Published paper (Other academic)
Abstract [en]

Recursive identification of physically parameterized models of continuous time systems is considered. As an example a model of a single link flexible robot arm is considered. The aim of the identification is to generate online estimates of physical parameters that can be used for e.g. diagnosis purposes. For evaluation the algorithm is applied to data from an industrial robot, and three important parameters are identified using only measurements of the motor angle.

Keywords
Robotics, Recursive identification, Physical parameters
National Category
Engineering and Technology Control Engineering
Identifiers
urn:nbn:se:liu:diva-90309 (URN)
Conference
Reglermöte 2002, Linköping, Sweden, 29-30 Maj 2002
Available from: 2013-03-29 Created: 2013-03-24 Last updated: 2013-04-08
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