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Identifiering av stelkroppsmodell för industrirobot
Linköping University, Department of Electrical Engineering.
2005 (Swedish)Independent thesis Basic level (professional degree), 20 points / 30 hpStudent thesisAlternative title
Identification of the inertial parameters of an industrial robot (English)
Abstract [en]

In this masters thesis we consider a method for experimental identification of the inertial parameters of an industrial robot, using measured torques and joint angles. A dynamic model of the first three joints of the robot has been identified.

To achieve good identification results, it is important to carefully choose the trajectory for the experimental identification. A method to generate trajectories using two suggested design criteria has been used and evaluated using an ABB industrial robot, and one of them yields good identification results.

Abstract [sv]

Denna rapport behandlar en metod för experimentell identifiering av en stelkroppsmodell för en industrirobot. Metoden använder sig av uppmätta moment och armvinklar för att identifiera parametrarna i en dynamikmodell för robotens tre huvudaxlar.

För att erhålla bra identifieringsresultat är det viktigt att välja en lämplig identifieringsbana och i detta arbete har en metod för generering av banor använts och utvärderats för två olika designkriterier. Experiment har utförts på en industrirobot från ABB och vi har erhållit goda identifieringsresultat med ett av designkriterierna.

Place, publisher, year, edition, pages
Institutionen för systemteknik , 2005. , 91 p.
Keyword [en]
identification, robot dynamics, optimal excitation
Keyword [sv]
identifiering, stelkroppsmodell, robotdynamik, optimering
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:liu:diva-5535ISRN: LITH-ISY-EX--05/3625--SEOAI: oai:DiVA.org:liu-5535DiVA: diva2:21351
Uppsok
teknik
Supervisors
Examiners
Available from: 2006-01-25 Created: 2006-01-25

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf