Johanna Wallen

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  • Stig Moberg, To Karin, John, Populärvetenskaplig Sammanfattning, Ingvar Jonsson, Mats Myhr +16 others
  • 2007
Cover illustration: A well-known path used by robot customers and robot manufacturers for evaluating the path accuracy of industrial robots (front). One element of the multivariable frequency response function magnitude for a modern industrial robot (back). Linköping studies in science and technology. Dissertations. Abstract Industrial robot manipulators(More)
Experimental results from a first order P-type ILC algorithm applied to a large size six degrees of freedom commercial industrial robot are presented. The ILC algorithm is based on measurements of the motor angles, but in addition to the conventional evaluation of the ILC algorithm based on the control error on the motor side, the tool path error on the arm(More)
Estimates from an extended Kalman filter (EKF) is used in an Iterative Learning Control (ILC) algorithm applied to a realistic two-link robot model with flexible joints. The angles seen from the arm side of the joints (arm angles) are estimated by an EKF in two ways: 1) using measurements of angles seen from the motor side of the joints (motor angles),(More)
Experimental evaluation of an Iterative Learning Control (ILC) algorithm is presented. The ILC algorithm is applied on all six motors of a large size commercial six degrees-of-freedom industrial robot. The performance of the algorithm is evaluated with respect to the operating point of the robot, the programmed tool velocity, and the design variables of the(More)
A first step towards making a toolbox in Maple for industrial robot modelling is taken. Position and orientation of the tool can be determined in terms of the Denavit-Hartenberg joint variables and also the Jacobian relating the linear and angular velocities to the joint velocities. Further on it will be possible to, e.g., differentiate the Jacobian. Future(More)
Cover illustration: An illustration of the feasible set for an H ∞ synthesis problem when the system has one state. Any point in the interior corresponds to a controller with one state, i.e., a so-called full order controller. A point on the curved boundary corresponds to a controller with zero states, i.e., a so-called static controller or reduced order(More)
In this report some phenomena and events in the history of industrial robots have been described. The prerequisites are mainly the early automation in the industry, together with the playful automatons. With the computer and later on the integrated circuit, it was possible to develop the first industrial robots. The first robots were used for simple tasks(More)
In this paper a step toward making a toolbox for industrial robot modelling based on the computer algebra tool Maple is taken. It can be seen as a modelling platform for efficient derivation of the necessary equations for doing, e.g., sensor fusion or state estimation by an Extended Kalman Filter (EKF) algorithm. Forward kinematics is studied and the(More)