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Identification of the Servomechanism used for micro-displacement

Communication avec acte
Auteur
BOGDAN, Ioana-Corina
107452 Laboratoire de Conception Fabrication Commande [LCFC]
ABBA, Gabriel
107452 Laboratoire de Conception Fabrication Commande [LCFC]

URI
http://hdl.handle.net/10985/8931
DOI
10.1109/IROS.2009.5354592
Date
2009

Résumé

Friction causes important errors in the control of small servomechanism and should be determined with precision in order to increase the system performance. This paper describes the method to identify the model parameters of a small linear drive with ball-screw. Two kinds of friction models will be applied for the servomechanism looking to rise its micropositioning abilities. The first one includes the static, viscous and Stribeck friction with hysteresis, and the second one uses the Lugre model. The results will be compared taking into account the criterion error, the accuracy and the normalized mean-square-error of the identified mechanical parameters. The coefficients of the models are identified by a recursive identification method using data acquisition and special filtering technics. The least square identification method is used in this paper in order to establish the motor parameters used as initial condition of the recursive estimation method. Computer simulations and experimental results demonstrate the efficiency of the proposed model.

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LCFC_IROS_2009_ABBA
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Documents liés

Visualiser des documents liés par titre, auteur, créateur et sujet.

  • Modélisation phénoménologique et identification d'un système de micro-positionnement 
    Communication avec acte
    BOGDAN, Ioana-Corina; ABBA, Gabriel (Nancy-Université, 2010)
    Les phénomènes de frottement sont à l'origine d'erreurs de positionnement importantes des servo-mécanismes. Une modélisation précise permet de compenser leur effet dans le but d'augmenter les performances du système. Cet ...
  • Identification of mechanical parameters at low velocities for a micropositioning stage using a velocity hysteresis model 
    Communication avec acte
    BOGDAN, Ioana-Corina; ABBA, Gabriel (IEEE, 2012)
    The paper presents a velocity hysteresis friction model. This model can be used for simulation or control of an accurate micropositioning servomechanism. The mechanical and friction parameters are identified from measured ...
  • Simulation results using a robot with flexibilities for machining and welding 
    Rapport de recherche
    KLIMCHIK, Alexandr; PASHKEVICH, Anatol; GARNIER, Sébastien; CARO, Stéphane; LEONARD, François; ABBA, Gabriel; QIN, Jinna (ABBA Gabriel, 2014)
    The objective of this report is to detail the models used in simulation and the results obtained in simulation for both machining and FSW process. This report contains in a first part the details of modeling flexibilities ...
  • A Novel Approach for Simplification of Industrial Robot Dynamic Model Using Interval Method 
    Communication avec acte
    WANG, Ke; LEONARD, François; ABBA, Gabriel (IEEE/ASME, 2014)
    This paper proposes a new approach to simplify the dynamic model of industrial robot by means of interval method. Due to strong nonlinearities, some components of robot dynamic model such as the inertia matrix and the ...
  • Nonlinear Discrete Observer for Flexibility Compensation of Industrial Robots 
    Communication avec acte
    QIN, Jinna; LEONARD, François; ABBA, Gabriel (Elsevier/International Federation of Automatic Control, 2014)
    This paper demonstrates the solutions of digital observer implementation for industrial applications. A nonlinear high-gain discrete observer is proposed to compensate the tracking error due to the flexibility of robot ...

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