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

Olofsson, Björn LU ; Sörnmo, Olof LU ; Robertsson, Anders LU and Johansson, Rolf LU orcid (2014) 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics p.327-333
Abstract
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... (More)
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. (Less)
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author
; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
Proc. 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014), July 8-11, 2014, Besançon, France,
pages
327 - 333
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
conference location
Besançon, France
conference dates
2014-07-08
external identifiers
  • wos:000346499600056
  • scopus:84906665007
ISSN
2159-6255
project
LU Robotics Laboratory
SMErobotics
language
English
LU publication?
yes
id
bc8431dc-d0ed-41a9-a381-eb70cd626217 (old id 4426210)
date added to LUP
2016-04-01 14:04:35
date last changed
2021-10-06 02:32:39
@inproceedings{bc8431dc-d0ed-41a9-a381-eb70cd626217,
  abstract     = {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.},
  author       = {Olofsson, Björn and Sörnmo, Olof and Robertsson, Anders and Johansson, Rolf},
  booktitle    = {Proc. 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014), July 8-11, 2014, Besançon, France,},
  issn         = {2159-6255},
  language     = {eng},
  pages        = {327--333},
  publisher    = {IEEE - Institute of Electrical and Electronics Engineers Inc.},
  title        = {Continuous-Time Gray-Box Identification of Mechanical Systems Using Subspace-Based Identification Methods},
  url          = {https://lup.lub.lu.se/search/files/3763554/4538649.pdf},
  year         = {2014},
}