liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
Modeling of Industrial Robots
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
1999 (English)Report (Other academic)
Abstract [en]

A general theory for modeling of industrial robots is presented and, based on the theory, some algorithms for the actual modeling process are derived and described. As an example of an application of the theory an industrial manipulator, an IRB1400 from ABB Robotics Products, is used. A kinematic model and a dynamical model for the first three joints of the IRB1400 manipulator is found. One part of the report is also devoted to flexible manipulators, especially manipulators with joint flexibilities. Finally, an identification experiment using data from the IRB1400 is discussed.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 1999. , 44 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2208
Keyword [en]
Modeling, Industrial robots, Mechanics, Kinematics, Dynamics
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-55731ISRN: LiTH-ISY-R-2208OAI: diva2:316605
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-03Bibliographically approved

Open Access in DiVA

fulltext(571 kB)124 downloads
File information
File name FULLTEXT02.pdfFile size 571 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Norrlöf, Mikael
By organisation
Automatic ControlThe Institute of Technology
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 152 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 106 hits
ReferencesLink to record
Permanent link

Direct link