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Closed-Loop Identification of an Industrial Robot Containing Flexibilities
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.
2001 (English)Report (Other academic)
Abstract [en]

Closed-loop identification of an industrial robot of the type ABB IRB 1400 is considered. Data are collected when the robot is subject to feedback control and moving around axis one. Both black-box and physically parameterized models are identified. A main purpose is to model the mechanical flexibilities. It is found that a model consisting of three-masses connected by springs and dampers gives a good description of the dynamics of the robot.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2001. , 19 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2398
Keyword [en]
Identification, Robotics, Flexible arm
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-55848ISRN: LiTH-ISY-R-2398OAI: oai:DiVA.org:liu-55848DiVA: diva2:316689
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-03Bibliographically approved

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fulltext(303 kB)396 downloads
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Östring, MånsGunnarsson, SvanteNorrlöf, 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