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Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and product quality. Other reasons for using industrial robots are cost saving, and elimination of hazardous and unpleasant work. Robot motion control is a key competence for robot manufacturers, and the current… (More)
A control engineering benchmark problem with industrial relevance is presented. The process is a simulation model of a nonlinear four-mass system, which should be controlled by a discrete-time controller that optimizes performance for given robustness requirements. The control problem concerns only the so-called regulator problem.
A benchmark problem for robust feedback control of a flexible manipulator is presented together with some suggested solutions. The system to be controlled is a four-mass system subject to input saturation, nonlinear gear elasticity, model uncertainties and load disturbances affecting both the motor and the arm. The system should be controlled by a… (More)
A benchmark problem for robust feedback control of a manipulator is presented. The system to be controlled is an uncertain nonlinear two link manipulator with elastic gear transmissions. The gear transmission is described by nonlinear friction and elasticity. The system is uncertain according to a parametric uncertainty description and due to uncertain… (More)
This paper investigates methods for tool position estimation of industrial robots. It is assumed that the motor angular position and the tool acceleration are measured. The considered observers are different versions of the extended Kalman filter as well as a deterministic observer. A method for tuning the observers is suggested and the robustness of the… (More)
Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and quality. Other reasons for using industrial robots are cost saving, and elimination of heavy and health-hazardous work. Robot motion control is a key competence for robot manufacturers, and the current development is… (More)
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… (More)
This work investigates feedforward control of elastic robot structures. A general serial link elastic robot model which can describe a modern industrial robot in a realistic way is presented. The feedforward control problem is discussed and a solution method for the inverse dynamics problem is proposed. This method involves solving a differential algebraic… (More)
This paper gives a short summary of an industrial development work on model-based motion control. This development has resulted in high robot motion performance simultaneously with an efficient use of the installed drive system of the robot.
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)