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Effects of Nonlinearities in Black Box Identification of an Industrial Robot
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2000 (English)Report (Other academic)
Abstract [en]

This paper discusses effects of nonlinearities in black box identification of one axis of a robot. The used data come from a commercial ABB robot, IRB1400. A three-mass flexible model for the robot was built in MathModelica. The nonlinearities in the model are nonlinear friction and backlash in the gear box.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2000. , 11 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2322
Keyword [en]
Identification, Nonlinearities, Robotics
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-55770ISRN: LiTH-ISY-R-2322OAI: diva2:316562
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-09-08Bibliographically approved

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Automatic ControlThe Institute of Technology
Control Engineering

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ReferencesLink to record
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