Nonlinear grey-box identification of linear actuators containing hysteresis [Elektronisk resurs] / Johan Gunnar, Erik Wernholt, Geir Hovland, Torgny Brogårdh

• 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. 

Indexterm och SAB-rubrik

Identification Robotics Backlash Hysteresis Parallel kinematic manipulators