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Nonlinear Grey-box Identification of Linear Actuators Containing Hysteresis
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
The University of Queensland, Australia.
ABB Automation Technologies, Robotics, Sweden.
2006 (English)In: Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006, 1818-1823 p.Conference paper, Published paper (Refereed)
Abstract [en]

A new identification procedure for a linear actuator used in parallel kinematic manipulators has been developed. The actuator dynamics contain both hysteresis and backlash resulting in a highly nonlinear system. The results in this paper show that not only can a nonlinear model of the system be successfully identified from measurement data, but the model is also compact enough to be an ideal candidate for inclusion in a high-performance robot control system.

Place, publisher, year, edition, pages
2006. 1818-1823 p.
Keyword [en]
Identification, Robotics, Backlash, Hysteresis, Parallel kinematic manipulators
National Category
Engineering and Technology Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-34814DOI: 10.1109/ROBOT.2006.1641970Local ID: 23351ISBN: 0-7803-9505-0 (print)OAI: oai:DiVA.org:liu-34814DiVA: diva2:255662
Conference
2006 IEEE International Conference on Robotics and Automation, Orlando, FL, USA, May, 2006
Available from: 2009-10-10 Created: 2009-10-10 Last updated: 2013-08-30

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Wernholt, Erik

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  • nn-NB
  • sv-SE
  • Other locale
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