Nonlinear Grey-Box Identification of Industrial Robots Containing Flexibilities
2004 (English)Report (Other academic)
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.
LiTH-ISY-R, ISSN 1400-3902 ; 2641
Identification, Robotics, Flexible arms, Friction, Manipulators
IdentifiersURN: urn:nbn:se:liu:diva-56006ISRN: LiTH-ISY-R-2641OAI: oai:DiVA.org:liu-56006DiVA: diva2:316728