Closed Loop Identification of the Physical Parameters of an Industrial Robot
2001 (English)In: Proceedings of the Third Conference on Computer Science and Systems Engineering, 2001, 191-198 p.Conference paper (Other academic)
This paper discusses experimental identication of a ﬂexible robot under strong feedback. Black-box models are compared with physically parameterized models. The parameters in the physical models and the blackbox models are identified from the input-output data using prediction error methods. We also investigate the importance of noise models when performing identication under strong feedback. The robot that we use is a commercial ABB robot, IRB 1400.
Place, publisher, year, edition, pages
2001. 191-198 p.
Robot, Closed loop identification, Identification, Flexible, Pem
Engineering and Technology Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-90782OAI: oai:DiVA.org:liu-90782DiVA: diva2:616488
Third Conference on Computer Science and Systems Engineering, Norrköping, Sweden, March, 2001