Closed Loop Identification of the Physical Parameters of an Industrial Robot
2001 (English)In: Proceedings of the 32nd International Symposium on Robotics, 2001Conference paper (Refereed)
This paper discusses experimental identication of a ﬂexible robot under strong feedback. Black-box models are compared with physically parameterized models. The parameters in the physical models and the blackbox models are identified from the input-output data using prediction error methods. We also investigate the importance of noise models when performing identification under strong feedback. The robot that we use is a commercial ABB robot, IRB 1400.
Place, publisher, year, edition, pages
Closed loop identification, Identification, Robot, Flexible, Pem
Engineering and Technology Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-29598Local ID: 14976ISBN: 9788988366042OAI: oai:DiVA.org:liu-29598DiVA: diva2:250415
32nd International Symposium on Robotics, 19-21 April 2001, Seoul, South Korea