Guo, Zhihong (2011)
Numerical estimation of model parameters for a detailed industrial robot dynamics.
Technische Universität Darmstadt
Diplom- oder Magisterarbeit, Bibliographie
Kurzbeschreibung (Abstract)
In order to increase the accuracy of industrial robotic applications with strong press forces at the end effector, e.g., milling of metal pieces or metal sheet forming, modelbased approaches are currently being studied in research. Highly accurate models of robot dynamics require exact knowledge of the model parameters, which may vary over time and which are hard to determine experimentally. This thesis deals with a general concept for elastic dynamic parameters estimation in multi-body systems, especially industry robots in applications with strong external forces by minimizing a least-squares function with respect to parameters and initial values. The least-square function is solved by a multipleshooting method. A practical application of a standard KUKA robot is discussed as a test example.
| Typ des Eintrags: | Diplom- oder Magisterarbeit |
|---|---|
| Erschienen: | 2011 |
| Autor(en): | Guo, Zhihong |
| Art des Eintrags: | Bibliographie |
| Titel: | Numerical estimation of model parameters for a detailed industrial robot dynamics |
| Sprache: | Englisch |
| Publikationsjahr: | 2011 |
| Ort: | Darmstadt |
| Kurzbeschreibung (Abstract): | In order to increase the accuracy of industrial robotic applications with strong press forces at the end effector, e.g., milling of metal pieces or metal sheet forming, modelbased approaches are currently being studied in research. Highly accurate models of robot dynamics require exact knowledge of the model parameters, which may vary over time and which are hard to determine experimentally. This thesis deals with a general concept for elastic dynamic parameters estimation in multi-body systems, especially industry robots in applications with strong external forces by minimizing a least-squares function with respect to parameters and initial values. The least-square function is solved by a multipleshooting method. A practical application of a standard KUKA robot is discussed as a test example. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik 04 Fachbereich Mathematik 04 Fachbereich Mathematik > Numerik und wissenschaftliches Rechnen |
| Hinterlegungsdatum: | 10 Jul 2019 08:52 |
| Letzte Änderung: | 10 Jul 2019 08:52 |
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