@inproceedings{555c624249f94b95ad33b6fa2818a98c,
title = "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.",
keywords = "subspace-based identification, parallel manipulator",
author = "Marzia Cescon and Isolde Dressler and Rolf Johansson and Anders Robertsson",
year = "2009",
doi = "10.1109/AIM.2009.5229722",
language = "English",
volume = "1-3",
publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",
pages = "1028--1033",
booktitle = "IEEE/ASME International Conference On Advanced Intelligent Mechatronics, 2009",
address = "United States",
note = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics ; Conference date: 14-07-2009 Through 17-07-2009",
}