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Nonlinear Identification of a Physically Parameterized Robot Model
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.
2006 (English)Report (Other academic)
Abstract [en]

In the work presented here, a three-step identification procedure for rigid body dynamics, friction, and flexibilities, introduced in (Wernholt and Gunnarsson, 2005), will be utilized and extended. Using the procedure, the parameters can be identified only using motor measurements. In the first step, rigid body dynamics and friction will be identified using a separable least squares method, where a friction model describing the Striebeck effect is used. In the second step, initial values for flexibilities are obtained using inverse eigenvalue theory. Finally, in the last step, the remaining parameters of a nonlinear physically parameterized model are identified directly in the time domain. The procedure is exemplified using real data from an experimental industrial robot.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2006. , 9 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2739
Keyword [en]
Identification, Robotics, Flexible arms, Friction, Manipulators
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-56091ISRN: LiTH-ISY-R-2739OAI: oai:DiVA.org:liu-56091DiVA: diva2:316844
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-08Bibliographically approved

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Wernholt, ErikGunnarsson, Svante

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CiteExportLink to record
Permanent link

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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
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  • asciidoc
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