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Modeling of Industrial Robot for Identification, Monitoring and Control
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2002 (English)Report (Other academic)
Abstract [en]

In this paper we study the problem of a modeling, identifying, and monitoring an industrial robot. We start by showing how a robot can be modeled in increasing degree of accuracy using high end tools such as MathModelica. This model can be transformed semi-automatically into a minimal state-space form which in turn can be used for identification. Moreover, the physically connected equations can be identified recursively, making it possible to monitor critical parts of the robot. When attached to a well trimmed detection scheme this provides a big help for operators, who easily can track problems with the process.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2002. , 8 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2439
Keyword [en]
Physical modeling, Identification, Recursive identification, Monitoring, Detection
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-55870ISRN: LiTH-ISY-R-2439OAI: oai:DiVA.org:liu-55870DiVA: diva2:316666
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-03Bibliographically approved

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Östring, MånsNorrlöf, Mikael

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf