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Subspace-based Identification of Compliance Dynamics of Parallel Kinematic Manipulator

In English

Författare

Summary, in English

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.

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.

Ämne

  • Control Engineering

Nyckelord

  • subspace-based identification
  • parallel manipulator

Conference name

IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Conference date

2009-07-14 - 2009-07-17

Conference place

Singapore, Singapore

Status

Published

Forskningsgrupp

  • LCCC