Closed Loop Identification of the Physical Parameters of an Industrial Robot
2000 (English)Report (Other academic)
This paper discusses experimental identication of a ﬂexible robot under strong feedback. Black-box models are compared with physically parameterized models. The parameters in the physical models and the blackbox models are identified from the input-output data using prediction error methods. We also investigate the importance of noise models when performing identication under strong feedback. The robot that we use is a commercial ABB robot, IRB 1400.
Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2000. , 22 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2303
closed loop identication, identication, robot, flexible, pem
IdentifiersURN: urn:nbn:se:liu:diva-55748ISRN: LiTH-ISY-R-2303OAI: oai:DiVA.org:liu-55748DiVA: diva2:316582