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Nonlinear Identification of a Physically Parameterized Robot Model
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, University Library.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2006 (English)In: Proceedings of the 14th IFAC Symposium on System Identification, 2006, 143-148 p.Conference paper, Published paper (Refereed)
Abstract [en]

In the work presented here, a three-step identification procedure for rigid body dynamics, friction, and flexibilities, introduced in (Wernholt and Gunnarsson, 2005), will be utilized and extended. Using the procedure, the parameters can be identified only using motor measurements. In the first step, rigid body dynamics and friction will be identified using a separable least squares method, where a friction model describing the Striebeck effect is used. In the second step, initial values for flexibilities are obtained using inverse eigenvalue theory. Finally, in the last step, the remaining parameters of a nonlinear physically parameterized model are identified directly in the time domain. The procedure is exemplified using real data from an experimental industrial robot.

Place, publisher, year, edition, pages
2006. 143-148 p.
Keyword [en]
Identification, Robotics, Flexible arms, Friction, Manipulators
National Category
Engineering and Technology Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-34809DOI: 10.3182/20060329-3-AU-2901.00016Local ID: 23309ISBN: 978-3-902661-02-9 (print)OAI: oai:DiVA.org:liu-34809DiVA: diva2:255657
Conference
14th IFAC Symposium on System Identification, Newcastle, Australia, March, 2006
Available from: 2009-10-10 Created: 2009-10-10 Last updated: 2013-02-26

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Wernholt, ErikGunnarsson, Svante

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Total: 148 hits
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  • en-US
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  • nn-NB
  • sv-SE
  • Other locale
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  • asciidoc
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