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Numerical estimation of model parameters for a detailed industrial robot dynamics

Guo, Zhihong (2011):
Numerical estimation of model parameters for a detailed industrial robot dynamics.
Darmstadt, Technische Universität Darmstadt, Department of Computer Science & Department of Mathematics, [Diploma Thesis or Magisterarbeit]

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.

Item Type: Diploma Thesis or Magisterarbeit
Erschienen: 2011
Creators: Guo, Zhihong
Title: Numerical estimation of model parameters for a detailed industrial robot dynamics
Language: English
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.

Place of Publication: Darmstadt
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
04 Department of Mathematics
04 Department of Mathematics > Numerical Analysis and Scientific Computing
Date Deposited: 10 Jul 2019 08:52
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