We consider the problem of gray-box identification of dynamic models for mechanical systems. In particular, the problem is approached by means of continuous-time system identification using subspace-based methods based on discrete-time input-output identification data. A method is developed, with the property that the structure of the model resulting from fundamental physical first principles is obtained and the parameter matrices have a clear physical interpretation. The proposed method is subsequently successfully validated in both simulation and using experimental data from a micro manipulator. In both cases the identified models exhibit good fit to the input-output data. The results indicate that the proposed method can be useful in the context of model-based control design in, for example, impedance force control for robots and manipulators, but also for modal analysis of mechanical systems.


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    Titel :

    Continuous-Time Gray-Box Identification of Mechanical Systems Using Subspace-Based Identification Methods


    Beteiligte:
    Olofsson, Björn (Autor:in) / Sörnmo, Olof (Autor:in) / Robertsson, Anders (Autor:in) / Johansson, Rolf (Autor:in)

    Erscheinungsdatum :

    2014-01-01


    Anmerkungen:

    pp 327-333 (2014) ; ISSN: 2159-6255


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Schlagwörter :

    Klassifikation :

    DDC:    629



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