Subspace-based Identification of Compliance Dynamics of Parallel Kinematic Manipulator
Publikation/Tidskrift/Serie: IEEE/ASME International Conference On Advanced Intelligent Mechatronics, 2009
A high-bandwith robot-workpiece interaction requires a stiff robot without resonances in the frequency range of operation. In this article, the compliance dynamics of the Gantry-Tau parallel kinematic robot were identified using subspace-based identification and physical modeling. Measurements were performed both with a camera vision system developed and with a laser tracker. Although promising simulation results for another Gantry-Tau prototype exist, both vision and laser tracker experiments identified multiple resonances around 14 Hz, which can reduce force control performance.
- Control Engineering
- subspace-based identification
- parallel manipulator
IEEE/ASME International Conference on Advanced Intelligent Mechatronics