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Subspace-based Identification of a Parallel Kinematic Manipulator Dynamics

Cescon, Marzia (2008) In MSc Theses
Department of Automatic Control
Abstract
This thesis deals with the identification of the dynamics of a Parallel Kinematic Manipulator, namely the Gantry-Tau patented by ABB located in the Robotics lav at LTH, Lund. The approach considered for modelling is subspace-based identification of linear models, where measurements from the robot motion are used to estimate the unknown parameters in the models. Rigid body dynamics and flexible body dynamics are taken into account and a description of the system in terms of a network with spring-damper pairs at the edges, representing the clusters, and masses at the nodes representing the end-effector and the carts, is proposed.
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author
Cescon, Marzia
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
publication/series
MSc Theses
report number
TFRT-5814
ISSN
0280-5316
language
English
id
8847602
date added to LUP
2016-03-17 10:31:34
date last changed
2016-03-17 10:31:34
@misc{8847602,
  abstract     = {This thesis deals with the identification of the dynamics of a Parallel Kinematic Manipulator, namely the Gantry-Tau patented by ABB located in the Robotics lav at LTH, Lund. The approach considered for modelling is subspace-based identification of linear models, where measurements from the robot motion are used to estimate the unknown parameters in the models. Rigid body dynamics and flexible body dynamics are taken into account and a description of the system in terms of a network with spring-damper pairs at the edges, representing the clusters, and masses at the nodes representing the end-effector and the carts, is proposed.},
  author       = {Cescon, Marzia},
  issn         = {0280-5316},
  language     = {eng},
  note         = {Student Paper},
  series       = {MSc Theses},
  title        = {Subspace-based Identification of a Parallel Kinematic Manipulator Dynamics},
  year         = {2008},
}