Closed-loop identification of an industrial robot containing flexibilities

  title={Closed-loop identification of an industrial robot containing flexibilities},
  author={Svante Gunnarsson and Mikael Norrl},
Closed loop identification of an industrial robot of the type ABB IRB 1400 is considered. Using data collected when the robot is subject to feedback control and moving around axis one linear black-box and physically parameterized models are identified. A main purpose is to model the mechanical flexibilities and it is found that the dynamics of the robot can be well approximated by a model consisting of three-masses connected by springs and dampers. It also found that the results of the… CONTINUE READING
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