TY - GEN
T1 - Flexible model identification of the parallel robot par2
AU - Douat, Luiz R.
AU - Queinnec, Isabelle
AU - Garcia, Germain
AU - Michelin, Micaël
AU - Pierrot, François
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=78651499009&partnerID=8YFLogxK
U2 - 10.1109/IROS.2010.5649161
DO - 10.1109/IROS.2010.5649161
M3 - Conference contribution
AN - SCOPUS:78651499009
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 6175
EP - 6180
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -