Analytical and experimental modelling for gain-scheduling of a double scara robot

J.J.M. Helvoort, van, M. Steinbuch, P.F. Lambrechts, M.J.G. Molengraft, van de

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Abstract

This paper proposes a method for low order modelling using the Linear Fractional Transformation (LFT) framework, appliedto an experimental setup. From the analytical model, derived fromthe equations of motion, a suitable choice for the schedulingvariable as well as the order of the polynomial dependence isshown. Parameters are determined from frequency responsemeasurements. The resulting fourth order model is validated usingboth frequency and time response measurements. The constructed model can be used for gain-scheduling controller design.
Original languageEnglish
Title of host publicationProceedings of the 3rd IFAC symposium on Mechatronic Systems 2004, 6-8 September 2004, Sydney, Australia
EditorsS.O.R. Moheimani
Place of PublicationOxford
PublisherElsevier
Pages61-66
ISBN (Print)0-08-044263-3
Publication statusPublished - 2005

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