Effects of Nonlinearities in Black Box Identification of an Industrial Robot

• This paper discusses effects of nonlinearities in black box identification of one axis of a robot. The used data come from a commercial ABB robot, IRB1400. A three-mass flexible model for the robot was built in MathModelica. The nonlinearities in the model are nonlinear friction and backlash in the gear box.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

Identification

Nonlinearities

Robotics

Automatic control

Reglerteknik

Publikations- och innehållstyp

vet (ämneskategori)

rap (ämneskategori)