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Identification of Flexibility Parameters of 6-axis Industrial Manipulator Models
ABB, Sweden.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
ABB, Sweden.
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2006 (English)In: Proceedings of the 2006 International Conference on Noise and Vibration Engineering, 2006, 3305- p.Conference paper, Published paper (Refereed)
Abstract [en]

A method for identification of flexibility parameters of a 18 DOF (degrees offreedom) robot prototype model is proposed. Experiments show the strengthof the method and the results indicates that flexibilities in the bearings and thearms, taken together, are of the same order as the flexibilities in the gears.

Place, publisher, year, edition, pages
2006. 3305- p.
Keyword [en]
Identification, Robotics, Flexible arms, Manipulators
National Category
Engineering and Technology Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-43056Local ID: 71182OAI: oai:DiVA.org:liu-43056DiVA: diva2:263913
Conference
2006 International Conference on Noise and Vibration Engineering, Leuven, Belgium, September, 2006
Available from: 2009-10-10 Created: 2009-10-10 Last updated: 2013-02-25

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Moberg, StigWernholt, Erik

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