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- Wernholt, Erik,1975-Linköpings universitet,Reglerteknik,Universitetsbiblioteket,Tekniska högskolan (author)
Nonlinear Identification of a Physically Parameterized Robot Model
- Article/chapterEnglish2006
Publisher, publication year, extent ...
- Linköping :Linköping University Electronic Press,2006
- printrdacarrier
Numbers
- LIBRIS-ID:oai:DiVA.org:liu-34809
- https://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-34809URI
- https://doi.org/10.3182/20060329-3-AU-2901.00016DOI
- https://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-56091URI
Supplementary language notes
- Language:English
- Summary in:English
Part of subdatabase
- SwePubSwePub
Classification
Series
- LiTH-ISY-R,1400-3902 ;2739
Notes
- In the work presented here, a three-step identification procedure for rigid body dynamics, friction, and flexibilities, introduced in (Wernholt and Gunnarsson, 2005), will be utilized and extended. Using the procedure, the parameters can be identified only using motor measurements. In the first step, rigid body dynamics and friction will be identified using a separable least squares method, where a friction model describing the Striebeck effect is used. In the second step, initial values for flexibilities are obtained using inverse eigenvalue theory. Finally, in the last step, the remaining parameters of a nonlinear physically parameterized model are identified directly in the time domain. The procedure is exemplified using real data from an experimental industrial robot.
Subject headings and genre
- TEKNIK OCH TEKNOLOGIER Elektroteknik och elektronik Reglerteknik hsv//swe
- ENGINEERING AND TECHNOLOGY Electrical Engineering, Electronic Engineering, Information Engineering Control Engineering hsv//eng
- Identification
- Robotics
- Flexible arms
- Friction
- Manipulators
- TECHNOLOGY
- TEKNIKVETENSKAP
- Automatic control
Added entries (persons, corporate bodies, meetings, titles ...)
- Gunnarsson, SvanteLinköpings universitet,Reglerteknik,Tekniska högskolan(Swepub:liu)svagu90 (author)
- Linköpings universitetReglerteknik (creator_code:org_t)
Related titles
- In:Proceedings of the 14th IFAC Symposium on System IdentificationLinköping : Linköping University Electronic Press, s. 143-1489783902661029
Internet link
- http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-56091Related report
- https://liu.diva-portal.org/smash/get/diva2:316844/FULLTEXT01.pdffulltext
- https://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-34809
- https://doi.org/10.3182/20060329-3-AU-2901.00016
- https://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-56091
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