Subspace-based Identification of a Parallel Kinematic Manipulator Dynamics
(2008) In MSc ThesesDepartment 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.
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/student-papers/record/8847602
- author
- Cescon, Marzia
- supervisor
- organization
- year
- 2008
- 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}}, }