Advanced

Modeling and Grey-box Identification of a Robot Manipulator

Blanco, Luis Rodriguez (2006) In MSc Theses
Department of Automatic Control
Abstract
Modeling and parameter identification of the main three of an idustrial robot of the type ABB IRB 2000 is considered. This Master thesis has been done at the Department of Automatic Control, Lund Institute of Technology working with a real robot located in the Robotics Laboratory. The model has been bult using the simulation software called Dymola (Dynamic Modeling laboratory), and the parameter identification has been performed with some tools included in the same software. The procedures requested in order to carry out the modeling and the parameter calibration are explained in detail, and finally a short description about the control desig in Dymola is done.
Please use this url to cite or link to this publication:
author
Blanco, Luis Rodriguez
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
publication/series
MSc Theses
report number
TFRT-5768
ISSN
0280-5316
language
English
id
8847804
date added to LUP
2016-03-18 09:44:56
date last changed
2016-03-18 09:44:56
@misc{8847804,
  abstract     = {Modeling and parameter identification of the main three of an idustrial robot of the type ABB IRB 2000 is considered. This Master thesis has been done at the Department of Automatic Control, Lund Institute of Technology working with a real robot located in the Robotics Laboratory. The model has been bult using the simulation software called Dymola (Dynamic Modeling laboratory), and the parameter identification has been performed with some tools included in the same software. The procedures requested in order to carry out the modeling and the parameter calibration are explained in detail, and finally a short description about the control desig in Dymola is done.},
  author       = {Blanco, Luis Rodriguez},
  issn         = {0280-5316},
  language     = {eng},
  note         = {Student Paper},
  series       = {MSc Theses},
  title        = {Modeling and Grey-box Identification of a Robot Manipulator},
  year         = {2006},
}