Subspace-based identification of compliance dynamics of parallel kinematic manipulator

Abstract

A high-bandwith robot-workpiece interaction requires a stiff robot without resonances in the frequency range of operation. In this article, the compliance dynamics of the Gantry-Tau parallel kinematic robot were identified using subspace-based identification and physical modeling. Measurements were performed both with a camera vision system developed and with a laser tracker. Although promising simulation results for another Gantry-Tau prototype exist, both vision and laser tracker experiments identified multiple resonances around 14 Hz, which can reduce force control performance.

Observer-based ILC Applied to the Gantry-Tau Parallel Kinematic Robot

“…Previous work on dynamic modelling of the Gantry-Tau robot includes rigid-body dynamics in Dressler et al [2007] and black-box identification of flexible dynamics in Cescon et al [2009]. Work on a slightly different prototype of approximately the same size as the robot in this paper is presented in Tyapin et al [2002] and Hovland et al [2007].…”

Continuous-time gray-box identification of mechanical systems using subspace-based identification methods

“…More specifically, regarding methodology, a subspacebased identification algorithm for determining a continuoustime model from experimental data is proposed in this paper. Previous research in this area includes [16], where a blackbox model approach in discrete time to the same problem was proposed. Gray-box identification for compliance dynamics and physical parameter estimation using convex optimization were investigated using frequency-based methods in [17] and identification of state-space models for compliance dynamics was treated in [18] using subspace methods in the frequencydomain.…”

Using causality modeling and Fuzzy Lattice Reasoning algorithm for predicting blood glucose

“…The core of the decision making module of DIAdvisor and the like (Cescon, Dressler, Johansson, & Robertsson, 2009), is usually a collection of decision rules that represent different daily situations of a normal non-diabetic person of similar body weight and age to that of the patient. Thereby any hyper/ hypoglycemic deviation could be detected and even foretold by the decision rules.…”