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Closed Loop Identification of the Physical Parameters 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 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
Keyword [en]
closed loop identication, identication, robot, flexible, pem
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-55748ISRN: LiTH-ISY-R-2303OAI: diva2:316582
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-03Bibliographically approved

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ReferencesLink to record
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