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Closed-Loop Identif...
Closed-Loop Identification of an Industrial Robot Containing Flexibilities
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- Östring, Måns (author)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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- Gunnarsson, Svante (author)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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- Norrlöf, Mikael, 1971- (author)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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(creator_code:org_t)
- Linköping : Linköping University Electronic Press, 2001
- English 19 s.
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Series: LiTH-ISY-R, 1400-3902 ; 2398
- Related links:
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https://liu.diva-por... (primary) (Raw object)
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Abstract
Subject headings
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- Closed-loop identification of an industrial robot of the type ABB IRB 1400 is considered. Data are collected when the robot is subject to feedback control and moving around axis one. Both black-box and physically parameterized models are identified. A main purpose is to model the mechanical flexibilities. It is found that a model consisting of three-masses connected by springs and dampers gives a good description of the dynamics of the robot.
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
- Robotics
- Flexible arm
- Automatic control
- Reglerteknik
Publication and Content Type
- vet (subject category)
- rap (subject category)
To the university's database