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  • SYSID18_0038_FI_BROKK

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State-dependent parameter model identification for inverse dead-zone control of a hydraulic manipulator

Research output: Contribution to journalJournal article

Published
<mark>Journal publication date</mark>2018
<mark>Journal</mark>IFAC-PapersOnLine
Issue number15
Volume51
Number of pages6
Pages (from-to)126-131
Publication statusPublished
Early online date8/10/18
Original languageEnglish
Event18th IFAC Symposium on System Identification - Stockholm, Sweden
Duration: 9/07/201811/07/2018

Symposium

Symposium18th IFAC Symposium on System Identification
CountrySweden
CityStockholm
Period9/07/1811/07/18

Abstract

The robotic platform in this study has dual, seven-function, hydraulically actuated manipulators, which are being used for research into assisted tele-operation for common nuclear decommissioning tasks, such as pipe cutting. The article concerns the identification of state-dependent parameter (SDP) models for joint angle control. Compared to earlier SDP analysis of the same device, the present work proposes a new way of representing the state-dependent gain and parametrises this using novel regret-regression methods. A mechanistic interpretation of this model yields dead-zone and angular velocity saturation coefficients, and facilitates SDP-based control with an inverse dead-zone. This approach integrates the input signal calibration, system identification and nonlinear control system design steps, using a relatively small data-set, allowing for straightforward recalibration when the dynamic characteristics have changed due to age and use, or after the installation of replacement parts.