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Subspace-based Identification of Compliance Dynamics of Parallel Kinematic Manipulator

Publiceringsår: 2009
Språk: Engelska
Sidor: 1028-1033
Publikation/Tidskrift/Serie: IEEE/ASME International Conference On Advanced Intelligent Mechatronics, 2009
Volym: 1-3
Dokumenttyp: Konferensbidrag
Förlag: IEEE--Institute of Electrical and Electronics Engineers Inc.


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
  • LCCC-lup-obsolete

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