Modelling and identification of industrial robots including drive and joint flexibilities

Toon Hardeman

    Research output: Thesis › PhD Thesis - Research UT, graduation UT › Academic

    322 Downloads (Pure)

    Abstract

    The applicability of industrial robots is restricted by their tip accuracy, in particular for applications in which a tool needs to track a trajectory at high speed. Flexibility in the drives and joints of these manipulators is an important cause for their limited accuracy. The flexibilities will cause vibration of the robot tip along the desired trajectory and deflection due to gravity. The goal of this thesis is to develop modelling and identification techniques for industrial robots that include the effects of joint and drive flexibilities, aiming at the prediction of the tip motion. The developed modelling and identification techniques are applied on a St¨aubli RX90B industrial robot.
    Original languageEnglish
    Awarding Institution
    • University of Twente
    Supervisors/Advisors
    • Jonker, Jan Bernhard, Supervisor
    • Aarts, Ronald, Co-Supervisor
    Award date1 Feb 2008
    Place of PublicationEnschede
    Publisher
    Print ISBNs978-90-365-2621-0
    Publication statusPublished - 1 Feb 2008

    Fingerprint

    Industrial robots
    Trajectories
    Manipulators
    Gravitation
    Robots

    Keywords

    • IR-58407

    Cite this

    Hardeman, Toon. / Modelling and identification of industrial robots including drive and joint flexibilities. Enschede : University of Twente, 2008. 156 p.
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    Hardeman, T 2008, 'Modelling and identification of industrial robots including drive and joint flexibilities', University of Twente, Enschede.

    Modelling and identification of industrial robots including drive and joint flexibilities. / Hardeman, Toon.

    Enschede : University of Twente, 2008. 156 p.

    Research output: Thesis › PhD Thesis - Research UT, graduation UT › Academic

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    N2 - The applicability of industrial robots is restricted by their tip accuracy, in particular for applications in which a tool needs to track a trajectory at high speed. Flexibility in the drives and joints of these manipulators is an important cause for their limited accuracy. The flexibilities will cause vibration of the robot tip along the desired trajectory and deflection due to gravity. The goal of this thesis is to develop modelling and identification techniques for industrial robots that include the effects of joint and drive flexibilities, aiming at the prediction of the tip motion. The developed modelling and identification techniques are applied on a St¨aubli RX90B industrial robot.

    AB - The applicability of industrial robots is restricted by their tip accuracy, in particular for applications in which a tool needs to track a trajectory at high speed. Flexibility in the drives and joints of these manipulators is an important cause for their limited accuracy. The flexibilities will cause vibration of the robot tip along the desired trajectory and deflection due to gravity. The goal of this thesis is to develop modelling and identification techniques for industrial robots that include the effects of joint and drive flexibilities, aiming at the prediction of the tip motion. The developed modelling and identification techniques are applied on a St¨aubli RX90B industrial robot.

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    PB - University of Twente

    CY - Enschede

    ER -

    Hardeman T. Modelling and identification of industrial robots including drive and joint flexibilities. Enschede: University of Twente, 2008. 156 p.

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