Identification and parameter-varying decoupling of a 3-DOF platform with manipulator

M. Gajdusek, A.A.H. Damen, P.P.J. Bosch, van den

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

4 Citations (Scopus)
106 Downloads (Pure)

Abstract

The paper describes identification and a new parameter-varying decoupling method for a 3-degree-of-freedom (DOF) platform with a manipulator on top of it, which is magnetically levitated by 9 voice-coil actuators. The identification has been performed in closed-loop using two different indirect approaches. In the first approach time-domain data of the system were processed using Ho-Kalman algorithm. The second approach was based on frequency-response measurements. The 3 DOFs of the platform are coupled and the coupling is even varying as the manipulator on top is moving. In order to design separate SISO controllers for each DOF of the platform, a new decoupling method has been developed which uses frequency response measurements of the system obtained for different positions of the manipulator.
Original languageEnglish
Title of host publicationInternational Symposium on Power Electronics, Electrical Drives, Automation and Motion, 2008 : SPEEDAM 2008 ; Ischia, 11 - 13 June 2008
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages691-696
ISBN (Print)978-1-4244-1663-9
DOIs
Publication statusPublished - 2008

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    Gajdusek, M., Damen, A. A. H., & Bosch, van den, P. P. J. (2008). Identification and parameter-varying decoupling of a 3-DOF platform with manipulator. In International Symposium on Power Electronics, Electrical Drives, Automation and Motion, 2008 : SPEEDAM 2008 ; Ischia, 11 - 13 June 2008 (pp. 691-696). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/SPEEDHAM.2008.4581104