NDLI: Inverse pseudo-random binary sequence design and its application in identifying of the SCARA-type manipulator

Content Provider	IEEE Xplore Digital Library
Author	Zhi-qian Mei Yun-can Xue
Copyright Year	2006
Description	Author affiliation: Hohai Univ., Changzhou (Zhi-qian Mei; Yun-can Xue)
Abstract	The design of inverse pseudo-random binary sequence (IPRBS) for the plant identification is presented. There exist two problems, the burden of identification experimental working amount based on the frequency response method and the identification precision sensitivity to the input-excitation signal based on recursive least square with forgetting factor (RFF). We solve the problems using a novel identification method, which combines RFF algorithm through frequency response analysis. The nominal model parameters are identified on the basis of frequency response analysis, in which the frequency bandwidth of harmonic input is limited, and frequency resolution is coarse. Based on this, the shift-impulse cycle of IPRBS as identification input can be calculated with the iteration-optimum method, and the model parameters can also be identified optimally in the procedure. The method is applied to the design of motion control system based on disturbance observer (DOB) of SCARA-type manipulator using Windows NT and VenturCom's real-time extension module (RTX) environment.
Starting Page	4459
Ending Page	4464
File Size	1751125
Page Count	6
File Format	PDF
ISBN	1424400996
DOI	10.1109/ICSMC.2006.384846
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-08
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Binary sequences Manipulator dynamics Frequency response Friction Signal processing Motion control Algorithm design and analysis Harmonic analysis Bandwidth Robotic assembly
Content Type	Text
Resource Type	Article

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