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Modeling and Identification of Inertial


Claudia Frischknecht, Linda Huber

Diploma/Master Thesis, HS 2007

Title: Modeling and Identification of Inertial Parameters of a SCARA Robot Keywords: SCARA Robot, IBM 7575 Manufacturing System, Position Feedback Control, Kinematic and Dynamic Modeling, Identification of Robot Parameters, PID Controller Design, LabVIEW In this thesis, a control system for an assembly robot arm (IBM 7575) was developed. The outdated original control hardware was replaced with a new hardware interface. The SCARA robot kinematics and dynamics were modeled. PID controllers were designed in order to control the position of the robot's joints and were implemented in LabVIEW. A graphical user interface was included in the control platform. The developed control system provides a basis for new student lab exercises and possibly for future research experiments at the Automatic Control Laboratory of the ETH, Zurich.

Supervisors: Prof. J. Lygeros, Dr. E. Cinquemani


Type of Publication:

(12)Diploma/Master Thesis

J. Lygeros

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% Autogenerated BibTeX entry
@PhdThesis { FriHub:2007:IFA_3181
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