Nonlinear grey-box identification of linear actuators containing hysteresis [Elektronisk resurs] / Johan Gunnar, Erik Wernholt, Geir Hovland, Torgny Brogårdh
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Gunnar, Johan
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Wernholt, Erik, 1975-
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Hovland, Geir
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Brogårdh, Torgny, 1947-
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- Linköpings universitet. Institutionen för systemteknik (utgivare)
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Alternativt namn: ISY
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Alternativt namn: Engelska: Linköping University. Department of Electrical Engineering
- Linköping : Department of Electrical Engineering, Linköpings universitet, 2006
- Engelska [9] s.
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Serie: LiTH-ISY-R, 1400-3902 ; 2741
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Läs hela texten (Sammanfattning och fulltext från Linköping University Electronic Press)
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- 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.
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- Identification Robotics Backlash Hysteresis Parallel kinematic manipulators
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