Industrial robot manipulators are general-purpose machines used for industrial automation
in order to increase productivity, flexibility, and quality. Other reasons for using industrial …

Industrial robots are today essential components in the manufacturing industry where they
are used to save costs, increase productivity and quality, and eliminate dangerous and …

In this paper, we study the problem of estimating unknown parameters in nonlinear gray-box
models that may be multivariable, nonlinear, unstable, and resonant at the same time. A …

The control system of industrial robots is often model-based, and the quality of the model of
high importance. Therefore, a fast and easy-to-use process for finding the model parameters …

This paper considers the problem of dynamic modeling and identification of robot
manipulators with respect to their elasticities. The so-called flexible joint model, modeling …

Dealing with robot calibration the neglection of joint and drive flexibilities limit the achievable
positioning accuracy significantly. This problem is addressed in this paper. A two stage …

A method for the detection and estimation of nonlinear distortions when identifying
multivariable frequency response functions (FRF) is considered. The method is successfully …

In this paper, a robust H 2/H∞ control with regional Pole-Placement is considered for tool
position control of a nonlinear uncertain flexible robot manipulator. The uncertain nonlinear …

A benchmark problem for robust feedback control of a flexible manipulator is presented. The
system to be controlled is a four-mass system subject to input saturation, nonlinear gear …

High-precision industrial manipulators are essential components in advanced
manufacturing. Model-based feedforward is the key to realizing the high-precision control of …