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

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

doi:10.1109/SPEEDHAM.2008.4581104

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

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

Control Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

4 Citations (Scopus)

263 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 language	English
Title of host publication	International Symposium on Power Electronics, Electrical Drives, Automation and Motion, 2008 : SPEEDAM 2008 ; Ischia, 11 - 13 June 2008
Place of Publication	Piscataway
Publisher	Institute of Electrical and Electronics Engineers
Pages	691-696
ISBN (Print)	978-1-4244-1663-9
DOIs	https://doi.org/10.1109/SPEEDHAM.2008.4581104
Publication status	Published - 2008

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10.1109/SPEEDHAM.2008.4581104

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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

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title = "Identification and parameter-varying decoupling of a 3-DOF platform with manipulator",

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.",

author = "M. Gajdusek and A.A.H. Damen and {Bosch, van den}, P.P.J.",

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doi = "10.1109/SPEEDHAM.2008.4581104",

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Gajdusek, M, Damen, AAH & Bosch, van den, PPJ 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. Institute of Electrical and Electronics Engineers, Piscataway, pp. 691-696. https://doi.org/10.1109/SPEEDHAM.2008.4581104

Identification and parameter-varying decoupling of a 3-DOF platform with manipulator. / Gajdusek, M.; Damen, A.A.H.; Bosch, van den, P.P.J.
International Symposium on Power Electronics, Electrical Drives, Automation and Motion, 2008 : SPEEDAM 2008 ; Ischia, 11 - 13 June 2008. Piscataway: Institute of Electrical and Electronics Engineers, 2008. p. 691-696.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AB - 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.

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Gajdusek M, Damen AAH, Bosch, van den PPJ. 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. Piscataway: Institute of Electrical and Electronics Engineers. 2008. p. 691-696 doi: 10.1109/SPEEDHAM.2008.4581104

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

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