Du är här

Subspace-based Identification of Compliance Dynamics of Parallel Kinematic Manipulator

Författare:
Publiceringsår: 2009
Språk: Engelska
Dokumenttyp: Konferensbidrag

Sammanfattning

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.

Disputation

Nyckelord

  • Technology and Engineering
  • parallel manipulator
  • subspace-based identification

Övrigt

2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
2009-06-22
Singapore
Published
Yes
  • LCCC

Box 117, 221 00 LUND
Telefon 046-222 00 00 (växel)
Telefax 046-222 47 20
lu [at] lu [dot] se

Fakturaadress: Box 188, 221 00 LUND
Organisationsnummer: 202100-3211
Om webbplatsen

LERU logo U21 logo