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LPV Gray Box Identification of Industrial Robots for Control

Knoblach, Andreas and Saupe, Florian (2012) LPV Gray Box Identification of Industrial Robots for Control. Multi-Conference on Systems and Control 2012, 03.-05. Oktober 2012, Dubrovnik, Kroatien.

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Abstract

This paper treats the linear parameter-varying (LPV) model identification of an industrial robot. Since the model is supposed to be used to design an LPV controller, it must simultaneously feature low complexity and adequate accuracy. As for most systems, a simplified analytical model structure can be derived for the robot based on the laws of physics. Some physical model parameters however must be experimentally determined. Due to the model simplifications, these physical parameters vary over the workspace. In order to capture this variation in an LPV model, the physical parameters are scheduled. Based on an understanding of the system, three different scheduling laws are designed and the resulting LPV models are compared to experimentally determined frequency response functions.

Item URL in elib:https://elib.dlr.de/78002/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:LPV Gray Box Identification of Industrial Robots for Control
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Knoblach, AndreasAndreas.Knoblach (at) dlr.deUNSPECIFIED
Saupe, FlorianFlorian.Saupe (at) dlr.deUNSPECIFIED
Date:October 2012
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Linear parameter-varying systems, Identification, Grey box models
Event Title:Multi-Conference on Systems and Control 2012
Event Location:Dubrovnik, Kroatien
Event Type:international Conference
Event Dates:03.-05. Oktober 2012
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Deposited By: Knoblach, Andreas
Deposited On:13 Nov 2012 10:25
Last Modified:13 Nov 2012 10:25

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