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Modeling and Identification of a Mechanical Industrial Manipulator
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.
Johannes Kepler University Linz, Austria.
2002 (English)In: Proceedings of Reglermöte 2002, 2002, 250-255 p.Conference 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.

Place, publisher, year, edition, pages
2002. 250-255 p.
Keyword [en]
Robot dynamics, System identification, Mechanical systems, Modeling, Industrial robots, Closed-loop identification
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-29597Local ID: 14975OAI: oai:DiVA.org:liu-29597DiVA: diva2:250414
Conference
Reglermöte 2002, Linköping, Sweden, May, 2002
Available from: 2009-10-09 Created: 2009-10-09 Last updated: 2013-08-28

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Norrlöf, MikaelÖstring, Måns

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