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Subspace-based Identification of Compliance Dynamics of Parallel Kinematic Manipulator

Cescon, Marzia LU ; Dressler, Isolde LU ; Johansson, Rolf LU and Robertsson, Anders LU (2009) IEEE/ASME International Conference on Advanced Intelligent Mechatronics In IEEE/ASME International Conference On Advanced Intelligent Mechatronics, 2009 1-3. p.1028-1033
Abstract
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.
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
subspace-based identification, parallel manipulator
in
IEEE/ASME International Conference On Advanced Intelligent Mechatronics, 2009
volume
1-3
pages
1028 - 1033
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
IEEE/ASME International Conference on Advanced Intelligent Mechatronics
external identifiers
  • WOS:000277062800175
  • Scopus:70350436456
DOI
10.1109/AIM.2009.5229722
language
English
LU publication?
yes
id
555c6242-49f9-4b95-ad33-b6fa2818a98c (old id 1616467)
date added to LUP
2010-06-23 10:48:42
date last changed
2016-10-13 04:44:58
@misc{555c6242-49f9-4b95-ad33-b6fa2818a98c,
  abstract     = {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.},
  author       = {Cescon, Marzia and Dressler, Isolde and Johansson, Rolf and Robertsson, Anders},
  keyword      = {subspace-based identification,parallel manipulator},
  language     = {eng},
  pages        = {1028--1033},
  publisher    = {ARRAY(0x9c35e40)},
  series       = {IEEE/ASME International Conference On Advanced Intelligent Mechatronics, 2009},
  title        = {Subspace-based Identification of Compliance Dynamics of Parallel Kinematic Manipulator},
  url          = {http://dx.doi.org/10.1109/AIM.2009.5229722},
  volume       = {1-3},
  year         = {2009},
}