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Closed-Loop Identification of an Industrial Robot Containing Flexibilities
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2003 (English)In: Control Engineering Practice, ISSN 0967-0661, Vol. 11, no 3, 291-300 p.Article 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. Vol. 11, no 3, 291-300 p.
Keyword [en]
Identification, Robotics, Flexible arm
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-29528DOI: 10.1016/S0967-0661(02)00114-4Local ID: 14886OAI: oai:DiVA.org:liu-29528DiVA: diva2:250343
Note

2002 Elsevier Science Ltd. All rights reserved.

Available from: 2009-10-09 Created: 2009-10-09 Last updated: 2013-07-17

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Östring, MånsGunnarsson, SvanteNorrlöf, Mikael

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