Nonlinear Grey-box Identification of Linear Actuators Containing Hysteresis
2006 (English)In: Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006, 1818-1823 p.Conference paper (Refereed)
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.
Identification, Robotics, Backlash, Hysteresis, Parallel kinematic manipulators
Engineering and Technology Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-34814DOI: 10.1109/ROBOT.2006.1641970Local ID: 23351ISBN: 0-7803-9505-0OAI: oai:DiVA.org:liu-34814DiVA: diva2:255662
2006 IEEE International Conference on Robotics and Automation, Orlando, FL, USA, May, 2006