Modeling and Grey-box Identification of a Robot Manipulator

Sammanfattning: Modeling and parameter identification of the main three of an idustrial robot of the type ABB IRB 2000 is considered. This Master thesis has been done at the Department of Automatic Control, Lund Institute of Technology working with a real robot located in the Robotics Laboratory. The model has been bult using the simulation software called Dymola (Dynamic Modeling laboratory), and the parameter identification has been performed with some tools included in the same software. The procedures requested in order to carry out the modeling and the parameter calibration are explained in detail, and finally a short description about the control desig in Dymola is done.