Closed loop identification of an industrial robot containing flexibilities [Elektronisk resurs] / Måns Östring, Svante Gunnarsson, Mikael Norrlöf
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Östring, Måns, 1974- (författare)
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Gunnarsson, Svante, 1951- (författare)
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- Norrlöf, Mikael, 1971- (författare)
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Alternativt namn: Norrlöf, Using iterative learning control to get better performance of robot control systems / Mikael Norrlöf,Svante Gunnarsson Place : Publisher,, 1971-
- Linköping : Linköping University Electronic Press, 2001
- Engelska 17 s.
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Serie: LiTH-ISY-R, 1400-3902 ; 2398
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Läs hela texten (Sammanfattning och fulltext från Linköping University Electronic Press)
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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.
Indexterm och SAB-rubrik
- Identification
- Robotics
- Flexible arms
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