Nonlinear Grey-box Identification of Linear Actuators Containing Hysteresis

• 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)