Vibration Reduction in a Gantry Robot
(2018)Department of Automatic Control
- Abstract
- This report considers the problems of using a model-based approach to develop an estimation for a non-linear system using a linear model. Different estimation approaches were researched and evaluated using an ideal system, thus finding the suitable method for this thesis. The investigations considered both drive-train friction and the identification of oscillatory modes in a real industrial robot system of gantry-type and in a couple of laboratory setups, with different levels of achieved accuracy and reproducibility. A simple experiment with model-based reference compensation from identified oscillatory dynamics motivates the estimation problem and illustrate achievable benefits.
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/student-papers/record/8964069
- author
- Peterson, Marcus
- supervisor
- organization
- year
- 2018
- type
- H3 - Professional qualifications (4 Years - )
- subject
- report number
- TFRT-6075
- ISSN
- 0280-5316
- language
- English
- id
- 8964069
- date added to LUP
- 2018-12-12 09:17:12
- date last changed
- 2018-12-12 09:17:12
@misc{8964069, abstract = {{This report considers the problems of using a model-based approach to develop an estimation for a non-linear system using a linear model. Different estimation approaches were researched and evaluated using an ideal system, thus finding the suitable method for this thesis. The investigations considered both drive-train friction and the identification of oscillatory modes in a real industrial robot system of gantry-type and in a couple of laboratory setups, with different levels of achieved accuracy and reproducibility. A simple experiment with model-based reference compensation from identified oscillatory dynamics motivates the estimation problem and illustrate achievable benefits.}}, author = {{Peterson, Marcus}}, issn = {{0280-5316}}, language = {{eng}}, note = {{Student Paper}}, title = {{Vibration Reduction in a Gantry Robot}}, year = {{2018}}, }