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 (Refereed)
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
Physical modeling, Identification, Recursive identification, Monitoring, Detection
Engineering and Technology Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-29595Local ID: 14973OAI: oai:DiVA.org:liu-29595DiVA: diva2:250412
2002 International Symposium on Advanced Control of Industrial Processes, Kumamoto, Japan, June, 2002