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Nonlinear Grey-box ...
Nonlinear Grey-box Identification of Linear Actuators Containing Hysteresis
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- Gunnar, Johan (författare)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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- Wernholt, Erik, 1975- (författare)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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- Hovland, Geir (författare)
- The University of Queensland, Australia
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- Brogårdh, Torgny (författare)
- ABB Automation Technologies, Robotics, Sweden
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(creator_code:org_t)
- Linköping : Linköping University Electronic Press, 2006
- 2006
- Engelska.
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Serie: LiTH-ISY-R, 1400-3902 ; 2741
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Ingår i: Proceedings of the 2006 IEEE International Conference on Robotics and Automation. - Linköping : Linköping University Electronic Press. - 0780395050 ; , s. 1818-1823
- Relaterad länk:
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http://urn.kb.se/res...
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https://liu.diva-por... (primary) (Raw object)
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- 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.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Nyckelord
- Identification
- Robotics
- Backlash
- Hysteresis
- Parallel kinematic manipulators
- Automatic control
- Reglerteknik
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)
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