Frequency-Domain Gray-Box Identification of Industrial Robots
نویسندگان
چکیده
منابع مشابه
Frequency-Domain Gray-Box Identification of Industrial Robots
This paper considers identification of unknown parameters in elastic dynamic models of industrial robots. Identifying such models is a challenging task since an industrial robot is a multivariable, nonlinear, resonant, and unstable system. Unknown parameters (mainly spring-damper pairs) in a physically parameterized nonlinear dynamic model are identified in the frequency domain, using estimates...
متن کاملFrequency-Domain Gray-Box Identification of Industrial Robots, Report no. LiTH-ISY-R-2826
This paper considers identi cation of unknown parameters in elastic dynamic models of industrial robots. Identifying such models is a challenging task since an industrial robot is a multivariable, nonlinear, resonant, and unstable system. Unknown parameters (mainly spring-damper pairs) in a physically parameterized nonlinear dynamic model are identi ed in the frequency domain, using estimates o...
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Industrial robots are today essential components in the manufacturing industry where they are used to save costs, increase productivity and quality, and eliminate dangerous and laborious work. High demands on accuracy and speed of the robot motion require that the mathematical models, used in the motion control system, are accurate. The models are used to describe the complicated nonlinear rela...
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In this paper, we study the problem of estimating unknown parameters in nonlinear gray-box models that may be multivariable, nonlinear, unstable, and resonant at the same time. A straightforward use of time-domain predication-error methods for this type of problem easily ends up in a large and numerically stiff optimization problem. We therefore propose an identification procedure that uses int...
متن کاملNonlinear Grey-box Identification of Industrial Robots Containing Flexibilities
Nonlinear grey-box identification of industrial robots is considered. A three-step identification procedure is proposed in which parameters for rigid body dynamics, friction, and flexibilities can be identified only using measurements on the motor. In the first two steps, good initial parameter estimates are derived which are used in the last step, where the parameters of a nonlinear physically...
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ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 2008
ISSN: 1474-6670
DOI: 10.3182/20080706-5-kr-1001.02600