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LUP Student Papers

LUND UNIVERSITY LIBRARIES

Vibration Reduction in a Gantry Robot

Peterson, Marcus (2018)
Department of Automatic Control
Abstract
This report considers the problems of using a model-based approach to develop an estimation for a non-linear system using a linear model. Different estimation approaches were researched and evaluated using an ideal system, thus finding the suitable method for this thesis. The investigations considered both drive-train friction and the identification of oscillatory modes in a real industrial robot system of gantry-type and in a couple of laboratory setups, with different levels of achieved accuracy and reproducibility. A simple experiment with model-based reference compensation from identified oscillatory dynamics motivates the estimation problem and illustrate achievable benefits.
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author
Peterson, Marcus
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
report number
TFRT-6075
ISSN
0280-5316
language
English
id
8964069
date added to LUP
2018-12-12 09:17:12
date last changed
2018-12-12 09:17:12
@misc{8964069,
  abstract     = {{This report considers the problems of using a model-based approach to develop an estimation for a non-linear system using a linear model. Different estimation approaches were researched and evaluated using an ideal system, thus finding the suitable method for this thesis. The investigations considered both drive-train friction and the identification of oscillatory modes in a real industrial robot system of gantry-type and in a couple of laboratory setups, with different levels of achieved accuracy and reproducibility. A simple experiment with model-based reference compensation from identified oscillatory dynamics motivates the estimation problem and illustrate achievable benefits.}},
  author       = {{Peterson, Marcus}},
  issn         = {{0280-5316}},
  language     = {{eng}},
  note         = {{Student Paper}},
  title        = {{Vibration Reduction in a Gantry Robot}},
  year         = {{2018}},
}