Nonlinear Grey-Box Identification of Industrial Robots Containing Flexibilities
2005 (English)In: Proceedings of the 16th IFAC World Congress, 2005, 59-59 p.Conference paper (Refereed)
Nonlinear grey-box identification of industrial robots is considered. A three-step identification procedure is proposed in which parameters for rigid body dynamics, friction and flexibilites can be identified only using measurements on the motor. In the first two steps, good initial parameter estimates are derived which are used in the last step, where the parameters of a nonlinear physically parameterized model are identified directly in the time domain. The procedure is examplifed using real data from an experimental industrial robot.
Place, publisher, year, edition, pages
2005. 59-59 p.
Identification, Robotics, Flexible arms, Friction, Manipulators
Engineering and Technology Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-31221DOI: 10.3182/20050703-6-CZ-1902.00060Local ID: 16970ISBN: 978-3-902661-75-3OAI: oai:DiVA.org:liu-31221DiVA: diva2:252044
16th IFAC World Congress, Prague, Czech Republic, July, 2005
FunderSwedish Research CouncilVinnova