Title :
Identification techniques for a robotic link
Author :
Bassi, E. ; Benzi, F. ; Conconi, S.
Author_Institution :
Dept. of Electr. Eng., Pavia Univ., Italy
Abstract :
The paper presents the theoretical background and the actual results of both linear and nonlinear identification procedures for the links of an industrial 6-axes articulated robot. The identification results are aimed at developing a position controller for repetitive trajectory displacements by implementing and comparing a linear (ARMAX) and a nonlinear neural network based (NARX) technique. Theoretical aspects and realization of all procedures are presented, that, together with experimental results, state the superiority of the nonlinear approach in most operational points
Keywords :
control engineering computing; identification; industrial robots; neural nets; position control; ARMAX; NARX; industrial 6-axes articulated robot; linear identification procedures; linear neural network; nonlinear identification procedures; nonlinear neural network; position controller; repetitive trajectory displacements; robotic link; Displacement control; Gears; Industrial control; Neural networks; Payloads; Regulators; Service robots; Signal processing; Testing; Torque control;
Conference_Titel :
Industrial Electronics, Control and Instrumentation, 1997. IECON 97. 23rd International Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-3932-0
DOI :
10.1109/IECON.1997.668526
