Modelling and identification of a six axes industrial robot

Rob Waiboer, Ronald Aarts, Ben Jonker

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

1 Citation (Scopus)
122 Downloads (Pure)

Abstract

This paper deals with the modelling and identification of a six axes industrial St ¨aubli RX90 robot. A non-linear finite element method is used to generate the dynamic equations of motion in a form suitable for both simulation and identification. The latter requires that the equations of motion are linear in the inertia parameters. Joint friction is described by a friction model that describes the friction behaviour in the full velocity range necessary for identification. Experimental parameter identification by means of linear least squares techniques showed to be very suited for identification of the unknown parameters, provided that the problem is properly scaled and that the influence of disturbances is sufficiently analysed and managed. An analysis of the least squares problem by means of a singular value decomposition is preferred as it not only solves the problem of rank deficiency, but it also can correctly deal with measurement noise and unmodelled dynamics.
Original languageEnglish
Title of host publication2005 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Subtitle of host publicationProceedings of IDETC/CIE 2005
Place of PublicationLong beach, CA
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages1-10
Number of pages10
ISBN (Electronic)0-7918-3766-1
ISBN (Print)0-7918-4743-8
DOIs
Publication statusPublished - 24 Sep 2005
EventASME 2005 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, IDETC/CIE 2005 - Long Beach, United States
Duration: 24 Sep 200528 Sep 2005

Conference

ConferenceASME 2005 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, IDETC/CIE 2005
Abbreviated titleIDETC/CIE
CountryUnited States
CityLong Beach
Period24/09/0528/09/05

Keywords

  • METIS-224351
  • IR-52670

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