Closed-Loop Identification of an Industrial Robot Containing Flexibilities
2003 (English)In: Control Engineering Practice, ISSN 0967-0661, Vol. 11, no 3, 291-300 p.Article in journal (Refereed) Published
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. Vol. 11, no 3, 291-300 p.
Identification, Robotics, Flexible arm
IdentifiersURN: urn:nbn:se:liu:diva-29528DOI: 10.1016/S0967-0661(02)00114-4Local ID: 14886OAI: oai:DiVA.org:liu-29528DiVA: diva2:250343
2002 Elsevier Science Ltd. All rights reserved.2009-10-092009-10-092013-07-17