Subspace-based Identification of Compliance Dynamics of Parallel Kinematic Manipulator
(2009) IEEE/ASME International Conference on Advanced Intelligent Mechatronics 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.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/1616467
- author
- Cescon, Marzia LU ; Dressler, Isolde LU ; Johansson, Rolf LU and Robertsson, Anders LU
- organization
- publishing date
- 2009
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- subspace-based identification, parallel manipulator
- host publication
- 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
- conference location
- Singapore, Singapore
- conference dates
- 2009-07-14 - 2009-07-17
- 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
- 2016-04-04 11:18:01
- date last changed
- 2024-01-13 00:04:09
@inproceedings{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}}, booktitle = {{IEEE/ASME International Conference On Advanced Intelligent Mechatronics, 2009}}, keywords = {{subspace-based identification; parallel manipulator}}, language = {{eng}}, pages = {{1028--1033}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, title = {{Subspace-based Identification of Compliance Dynamics of Parallel Kinematic Manipulator}}, url = {{http://dx.doi.org/10.1109/AIM.2009.5229722}}, doi = {{10.1109/AIM.2009.5229722}}, volume = {{1-3}}, year = {{2009}}, }