Closed-loop identification of an industrial robot containing flexibilities

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 flexibil...

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Bibliographic Details
Published inControl engineering practice Vol. 11; no. 3; pp. 291 - 300
Main Authors Östring, Måns, Gunnarsson, Svante, Norrlöf, Mikael
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.03.2003
Subjects
Automatic control
Flexible arm
Flexible arms
Identification
Information technology
Informationsteknik
Reglerteknik
Robotics
TECHNOLOGY
TEKNIKVETENSKAP
Flexible arms
Identification
Robotics
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ISSN0967-0661
1873-6939
1873-6939
DOI10.1016/S0967-0661(02)00114-4

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Summary: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.
ISSN:0967-0661
1873-6939
1873-6939
DOI:10.1016/S0967-0661(02)00114-4