Title :
Identification of static nonlinearities in a deformable pneumatic actuator
Author :
Belforte, Gustavo ; Gay, Paolo
Author_Institution :
Dipt. di Autom. e Inf., Politecnico di Torino, Italy
fDate :
6/21/1905 12:00:00 AM
Abstract :
In this paper some first results on the black box identification, from real data, of the static nonlinearities in a deformable pneumatic actuator are presented. Such nonlinearities between the three Cartesian coordinates of the end effector to be controlled and the sensor outputs are induced by the special sensing structure on board the actuator
Keywords :
actuators; control nonlinearities; identification; pneumatic control equipment; Cartesian coordinates; black box identification; deformable pneumatic actuator; end effector; static nonlinearity identification; Deformable models; End effectors; Friction; Iron; Pneumatic actuators; Pressure control; Prototypes; Rubber; Transducers; Voltage control;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.827761
