Title :
Flexible model identification of the parallel robot Par2
Author :
Douat, Luiz R. ; Queinnec, Isabelle ; Garcia, Germain ; Michëlin, Micaël ; Pierrot, François
Author_Institution :
LAAS, CNRS, Toulouse, France
Abstract :
The open-loop flexible modes identification of a high-speed and high-accuracy pick-and-place parallel robot is carried out based on two approaches: an ARMAX model and a subspace identification technique. Models of piezoelectric dynamics and disturbances can be obtained for many distinct operation conditions, allowing, in a future work, the conception of robust control laws.
Keywords :
autoregressive moving average processes; end effectors; identification; manipulator kinematics; piezoelectric devices; robotic assembly; robust control; ARMAX model; closed-loop kinematic chain mechanism; end-effector; flexible model identification; industrial assembly; industrial handling; open-loop flexible modes identification; parallel robot Par2; pick-and-place parallel robot; piezoelectric disturbances; piezoelectric dynamics; robust control laws; subspace identification technique;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-6674-0
DOI :
10.1109/IROS.2010.5649161
