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Model development and system identification of a Cartesian manipulator using a laser-interferometry based measurement system

Journal Article


Abstract


  • This paper describes the development and verification of a dynamic model for a Cartesian manipulator. Experiments and simulations are performed in order to determine the parameters of the established model. Optical shaft encoder feedback was proven to be unsatisfactory predominantly due to elasticity of the couplings and ball-nut backlash. As a result, a laser interferometry-based measurement system was used for position data acquisition. Experimental results highlight the occurrence of limit-cycles due to inherent friction by the rails, ball-nuts and bearings. The derived model parameters were determined both by theoretical calculations and experimental response observation.

Publication Date


  • 2004

Citation


  • De Waas Tilakaratna, P., Shirinzadeh, B., & Alici, G. (2004). Model development and system identification of a Cartesian manipulator using a laser-interferometry based measurement system. IFAC Proceedings Volumes (IFAC-PapersOnline), 37(14), 401-406. doi:10.1016/S1474-6670(17)31137-0

Scopus Eid


  • 2-s2.0-85064514301

Web Of Science Accession Number


Start Page


  • 401

End Page


  • 406

Volume


  • 37

Issue


  • 14

Abstract


  • This paper describes the development and verification of a dynamic model for a Cartesian manipulator. Experiments and simulations are performed in order to determine the parameters of the established model. Optical shaft encoder feedback was proven to be unsatisfactory predominantly due to elasticity of the couplings and ball-nut backlash. As a result, a laser interferometry-based measurement system was used for position data acquisition. Experimental results highlight the occurrence of limit-cycles due to inherent friction by the rails, ball-nuts and bearings. The derived model parameters were determined both by theoretical calculations and experimental response observation.

Publication Date


  • 2004

Citation


  • De Waas Tilakaratna, P., Shirinzadeh, B., & Alici, G. (2004). Model development and system identification of a Cartesian manipulator using a laser-interferometry based measurement system. IFAC Proceedings Volumes (IFAC-PapersOnline), 37(14), 401-406. doi:10.1016/S1474-6670(17)31137-0

Scopus Eid


  • 2-s2.0-85064514301

Web Of Science Accession Number


Start Page


  • 401

End Page


  • 406

Volume


  • 37

Issue


  • 14