Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.
A new identification procedure for a linear actuator used in parallel kinematic manipulators has ... more 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.
Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.
A new identification procedure for a linear actuator used in parallel kinematic manipulators has ... more 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.
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Papers by Johan Gunnar