DocumentCode
3292912
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
fYear
2010
fDate
18-22 Oct. 2010
Firstpage
6175
Lastpage
6180
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location
Taipei
ISSN
2153-0858
Print_ISBN
978-1-4244-6674-0
Type
conf
DOI
10.1109/IROS.2010.5649161
Filename
5649161
Link To Document