Flexible model identification of the parallel robot par2

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URI: https://hdl.handle.net/11556/2130
ISBN: 9781424466757
DOI: 10.1109/IROS.2010.5649161
Publication date
2010
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Abstract
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.
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Artificial Intelligence , Human-Computer Interaction , Control and Systems Engineering
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conference output
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Douat , L R , Queinnec , I , Garcia , G , Michelin , M & Pierrot , F 2010 , Flexible model identification of the parallel robot par2 . in IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings . , 5649161 , IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings , pp. 6175-6180 , 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 , Taipei , Taiwan, Province of China , 18/10/10 . https://doi.org/10.1109/IROS.2010.5649161
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