Flexible model identification of the parallel robot Par2

Flexible model identification of the parallel robot Par2

The open-loop flexible modes identification of a high-speed and high-accuracy pick-and-place parallel robot is carried out based on two approaches: an ARMAX model and a subspace identification technique. Models of piezoelectric dynamics and disturbances can be obtained for many distinct operation co...

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Bibliographische Detailangaben
Hauptverfasser: Douat, L R, Queinnec, I, Garcia, G, Michelin, Micaël, Pierrot, François
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Acceleration
Accelerometers
Load modeling
Mathematical model
Robots
Trajectory
Vibrations
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Beschreibung
Zusammenfassung:The open-loop flexible modes identification of a high-speed and high-accuracy pick-and-place parallel robot is carried out based on two approaches: an ARMAX model and a subspace identification technique. Models of piezoelectric dynamics and disturbances can be obtained for many distinct operation conditions, allowing, in a future work, the conception of robust control laws.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2010.5649161