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Closed Loop Identification of the Physical Parameters of an Industrial Robot
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2001 (English)In: Proceedings of the 32nd International Symposium on Robotics, 2001Conference paper (Refereed)
Abstract [en]

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
Keyword [en]
Closed loop identification, Identification, Robot, Flexible, Pem
National Category
Engineering and Technology Control Engineering
URN: urn:nbn:se:liu:diva-29598Local ID: 14976ISBN: 9788988366042OAI: diva2:250415
32nd International Symposium on Robotics, 19-21 April 2001, Seoul, South Korea
Available from: 2009-10-09 Created: 2009-10-09 Last updated: 2015-06-16

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