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Closed Loop Identification of the Physical Parameters of an Industrial Robot
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2001 (English)In: Proceedings of the Third Conference on Computer Science and Systems Engineering, 2001, 191-198 p.Conference paper, Published paper (Other academic)
Abstract [en]

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.
Keyword [en]
Robot, Closed loop identification, Identification, Flexible, Pem
National Category
Engineering and Technology Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-90782OAI: oai:DiVA.org:liu-90782DiVA: diva2:616488
Conference
Third Conference on Computer Science and Systems Engineering, Norrköping, Sweden, March, 2001
Available from: 2013-04-17 Created: 2013-04-07 Last updated: 2013-04-23

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CiteExportLink to record
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  • apa
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