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Modeling and Identification of a Mechanical Industrial Manipulator
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.
Johannes Kepler University Linz, Austria.
2002 (English)Report (Other academic)
Abstract [en]

This paper covers modeling and identification of one joint of an industrial robot manipulator including flexibilities. It is shown how models can be built in the Modelica graphical environment and how these models can be transformed into a mathematical state space description which directly can be used for identification. A motivation to use linear models for modeling of the robot arm is given. This includes an analysis of the nonlinearities in the input/output data from the actual robot using a special kind of input signal. Identification and validation of the physically parameterized models are also covered.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2002. , 8 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2437
Keyword [en]
Robot dynamics, system identication, mechanical systems, modeling, industrial robots, closed-loop identication
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-55868ISRN: LiTH-ISY-R-2437OAI: oai:DiVA.org:liu-55868DiVA: diva2:316669
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-02Bibliographically approved

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Norrlöf, MikaelÖstring, Måns

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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