Nonlinear Grey-box Identification of Linear Actuators Containing Hysteresis
2006 (English)Report (Other academic)
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.
LiTH-ISY-R, ISSN 1400-3902 ; 2741
Identification, Robotics, Backlash, Hysteresis, Parallel kinematic manipulators
IdentifiersURN: urn:nbn:se:liu:diva-56093ISRN: LiTH-ISY-R-2741OAI: oai:DiVA.org:liu-56093DiVA: diva2:316842