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Lookup NU author(s): Dr Quentin Clairon
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© 2018 The robotic platform in this study has dual, seven-function, hydraulically actuated manipulators, which are being used for research into assisted tele-operation for common nuclear decommissioning tasks, such as pipe cutting. The article concerns the identification of state-dependent parameter (SDP) models for joint angle control. Compared to earlier SDP analysis of the same device, the present work proposes a new way of representing the state-dependent gain and parametrises this using novel regret-regression methods. A mechanistic interpretation of this model yields dead-zone and angular velocity saturation coefficients, and facilitates SDP-based control with an inverse dead-zone. This approach integrates the input signal calibration, system identification and nonlinear control system design steps, using a relatively small data-set, allowing for straightforward recalibration when the dynamic characteristics have changed due to age and use, or after the installation of replacement parts.
Author(s): West C, Wilson ED, Clairon Q, Monk S, Montazeri A, Taylor CJ
Publication type: Article
Publication status: Published
Online publication date: 08/10/2018
Acceptance date: 02/04/2018
Publisher: Elsevier B.V.
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