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Effects of Nonlinearities in Black Box Identification of an Industrial Robot
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- Aberger, Martin (author)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
- (creator_code:org_t)
- Linköping : Linköping University Electronic Press, 2000
- English 11 s.
- Series: LiTH-ISY-R, 1400-3902 ; 2322
- Reports (other academic/artistic)
Abstract
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- 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.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Keyword
- Identification
- Nonlinearities
- Robotics
- Automatic control
- Reglerteknik
Publication and Content Type
- vet (subject category)
- rap (subject category)
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