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Nonlinear Grey-Box Identification of Industrial Robots 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.
2004 (English)Report (Other academic)
Abstract [en]

Nonlinear grey-box identification of industrial robots is considered. A three-step identification procedure is proposed in which parameters for rigid body dynamics, friction and flexibilites can be identified only using measurements on the motor. In the first two steps, good initial parameter estimates are derived which are used in the last step, where the parameters of a nonlinear physically parameterized model are identified directly in the time domain. The procedure is examplifed using real data from an experimental industrial robot.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2004. , 8 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2641
Keyword [en]
Identification, Robotics, Flexible arms, Friction, Manipulators
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-56006ISRN: LiTH-ISY-R-2641OAI: oai:DiVA.org:liu-56006DiVA: diva2:316728
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-03Bibliographically approved

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Wernholt, ErikGunnarsson, Svante

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CiteExportLink to record
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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