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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)Report (Other academic)
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
Linköping: Linköping University Electronic Press, 2006. , 9 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2741
Keyword [en]
Identification, Robotics, Backlash, Hysteresis, Parallel kinematic manipulators
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-56093ISRN: LiTH-ISY-R-2741OAI: oai:DiVA.org:liu-56093DiVA: diva2:316842
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-08-12Bibliographically approved

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Wernholt, Erik

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Automatic ControlThe Institute of Technology
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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf