Effects of Nonlinearities in Black Box Identification of an Industrial Robot
2000 (English)Report (Other academic)
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
Identification, Nonlinearities, Robotics
IdentifiersURN: urn:nbn:se:liu:diva-55770ISRN: LiTH-ISY-R-2322OAI: oai:DiVA.org:liu-55770DiVA: diva2:316562