Modeling and Identification of a Mechanical Industrial Manipulator
2002 (English)In: Proceedings of Reglermöte 2002, 2002, 250-255 p.Conference paper (Other academic)
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.
Robot dynamics, System identification, Mechanical systems, Modeling, Industrial robots, Closed-loop identification
National CategoryControl Engineering
IdentifiersURN: urn:nbn:se:liu:diva-29597Local ID: 14975OAI: oai:DiVA.org:liu-29597DiVA: diva2:250414
Reglermöte 2002, Linköping, Sweden, May, 2002