DocumentCode
2097962
Title
Nonlinear grey-box identification of linear actuators containing hysteresis
Author
Gunnar, Johan ; Wernholt, Erik ; Hovland, Geir ; Brogårdh, Torgny
Author_Institution
Dept. of Electr. Eng., Linkoping Univ.
fYear
2006
fDate
15-19 May 2006
Firstpage
1818
Lastpage
1823
Abstract
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
Keywords
actuators; control nonlinearities; identification; manipulator kinematics; nonlinear control systems; backlash; hysteresis; linear actuators; nonlinear grey-box identification; parallel kinematic manipulators; robot control system; Fasteners; Friction; Gears; Hydraulic actuators; Hysteresis motors; Kinematics; Manipulator dynamics; Parallel robots; Parameter estimation; Robotics and automation;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location
Orlando, FL
ISSN
1050-4729
Print_ISBN
0-7803-9505-0
Type
conf
DOI
10.1109/ROBOT.2006.1641970
Filename
1641970
Link To Document