Modelling, identification and control of three axis manipulator robor

Abstract EN

This contribution focuses on the experimental identification of a manipulator robot using only position measurements.

The studied robot is composed of three links, two rotational in horizontal plane, and the third prismatic in vertical plane.

With the aim of developing a consistent and reliable model, we were particularly interested in viscous and Coulomb frictions as well as the choice of exciting trajectories that take the robot mechanical limits into account.

The model is validated with closed loop experimental results to show the well-foundness of our approach.