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Subspace-based Identification of Compliance Dynamics of Parallel Kinematic Manipulator

Cescon, Marzia LU ; Dressler, Isolde LU ; Johansson, Rolf LU orcid and Robertsson, Anders LU (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:
author
; ; and
organization
publishing date
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}},
}