Continuous-Time Gray-Box Identification of Mechanical Systems Using Subspace-Based Identification Methods

Björn Olofsson; Olof Sörnmo; Anders Robertsson; Rolf Johansson

Continuous-Time Gray-Box Identification of Mechanical Systems Using Subspace-Based Identification Methods

Björn Olofsson, Olof Sörnmo, Anders Robertsson, Rolf Johansson

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

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Abstract

We consider the problem of gray-box identification of dynamic models for mechanical systems. In particular, the problem is approached by means of continuous-time system identification using subspace-based methods based on discrete-time input-output identification data. A method is developed, with the property that the structure of the model resulting from fundamental physical first principles is obtained and the parameter matrices have a clear physical interpretation. The proposed method is subsequently successfully validated in both simulation and using experimental data from a micro manipulator. In both cases the identified models exhibit good fit to the input-output data. The results indicate that the proposed method can be useful in the context of model-based control design in, for example, impedance force control for robots and manipulators, but also for modal analysis of mechanical systems.

Original language	English
Title of host publication	Proc. 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014), July 8-11, 2014, Besançon, France,
Publisher	IEEE - Institute of Electrical and Electronics Engineers Inc.
Pages	327-333
Publication status	Published - 2014
Event	2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics - Besançon, France Duration: 2014 Jul 8 → …

Publication series

Name
ISSN (Print)	2159-6255

Conference

Conference	2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Country/Territory	France
City	Besançon
Period	2014/07/08 → …

Subject classification (UKÄ)

Control Engineering

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aim2014

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RobotLab LTH
Bagge Carlson, F. (Researcher), Johansson, R. (Researcher), Karlsson, M. (Researcher), Olofsson, B. (Researcher), Robertsson, A. (Researcher), Robertz, S. (Researcher), Haage, M. (Researcher), Malec, J. (Researcher), Nilsson, K. (Researcher), Nugues, P. (Researcher), Stenmark, M. (Researcher), Topp, E. A. (Researcher), Krueger, V. (Researcher), Åström, H. (Researcher), Mayr, M. (Researcher), Salt Ducaju, J. (Researcher), Nishimura, M. (Administrator), Wisbrant, J. (Project communication officer), Dürr, A. (Researcher), Mayr, M. (Researcher), Nugues, P. (Researcher), Klang, M. (Research engineer), Klöckner, M. (Researcher), Nardi, L. (Researcher), Ahmad, F. (Researcher), Oxenstierna, J. (Researcher), Rizwan, M. (Researcher), Reichenbach, C. (Researcher), Bergström, J. (Researcher), Dell'Unto, N. (Researcher), Maunsbach, L. (Researcher), Åström, K. (Researcher), Blomdell, A. (Research engineer), Magnusson, M. (Researcher), Fransson, P.-A. (Researcher), Karayiannidis, Y. (Researcher), Johansson, A. T. (Researcher), Jia, Z. (Researcher), Laban, L. (Researcher), Wingqvist, B. (Researcher), Guberina, M. (Researcher), Jena, A. (Researcher), Westin, E. (Administrator), Frick, C. (Administrator), Pisarevskiy, A. (Research engineer), Nilsson, A. (Research engineer), Reitmann, S. (Researcher), Hvarfner, C. (Researcher), Stoltenberg, P. (Researcher) & Fregnan, S. (Researcher)
1993/01/01 → …
Project: Research
SMErobotics
Topp, E. A. (Researcher), Malec, J. (Researcher), Nilsson, K. (PI), Olofsson, B. (Researcher), Johansson, R. (PI), Haage, M. (Researcher), Robertsson, A. (Researcher), Berntorp, K. (Researcher), Sörnmo, O. (Researcher) & Ghazaei Ardakani, M. (Researcher)
2012/01/01 → 2016/06/30
Project: Research

RobotLab LTH Infrastructure
Krueger, V. (Manager), Olofsson, B. (Manager), Karayiannidis, Y. (Manager), Haage, M. (Manager), Malec, J. (Manager) & Topp, E. A. (Manager)
Faculty of Engineering, LTH
Infrastructure

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Olofsson, B., Sörnmo, O., Robertsson, A., & Johansson, R. (2014). Continuous-Time Gray-Box Identification of Mechanical Systems Using Subspace-Based Identification Methods. In Proc. 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014), July 8-11, 2014, Besançon, France, (pp. 327-333). IEEE - Institute of Electrical and Electronics Engineers Inc..

Olofsson, Björn ; Sörnmo, Olof ; Robertsson, Anders et al. / Continuous-Time Gray-Box Identification of Mechanical Systems Using Subspace-Based Identification Methods. Proc. 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014), July 8-11, 2014, Besançon, France,. IEEE - Institute of Electrical and Electronics Engineers Inc., 2014. pp. 327-333

@inproceedings{bc8431dcd0ed41a9a381eb70cd626217,

title = "Continuous-Time Gray-Box Identification of Mechanical Systems Using Subspace-Based Identification Methods",

abstract = "We consider the problem of gray-box identification of dynamic models for mechanical systems. In particular, the problem is approached by means of continuous-time system identification using subspace-based methods based on discrete-time input-output identification data. A method is developed, with the property that the structure of the model resulting from fundamental physical first principles is obtained and the parameter matrices have a clear physical interpretation. The proposed method is subsequently successfully validated in both simulation and using experimental data from a micro manipulator. In both cases the identified models exhibit good fit to the input-output data. The results indicate that the proposed method can be useful in the context of model-based control design in, for example, impedance force control for robots and manipulators, but also for modal analysis of mechanical systems.",

author = "Bj{\"o}rn Olofsson and Olof S{\"o}rnmo and Anders Robertsson and Rolf Johansson",

year = "2014",

language = "English",

publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",

pages = "327--333",

booktitle = "Proc. 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014), July 8-11, 2014, Besan{\c c}on, France,",

address = "United States",

note = "2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics ; Conference date: 08-07-2014",

}

Olofsson, B, Sörnmo, O, Robertsson, A & Johansson, R 2014, Continuous-Time Gray-Box Identification of Mechanical Systems Using Subspace-Based Identification Methods. in Proc. 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014), July 8-11, 2014, Besançon, France,. IEEE - Institute of Electrical and Electronics Engineers Inc., pp. 327-333, 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Besançon, France, 2014/07/08.

Continuous-Time Gray-Box Identification of Mechanical Systems Using Subspace-Based Identification Methods. / Olofsson, Björn; Sörnmo, Olof; Robertsson, Anders et al.
Proc. 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014), July 8-11, 2014, Besançon, France,. IEEE - Institute of Electrical and Electronics Engineers Inc., 2014. p. 327-333.

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

TY - GEN

T1 - Continuous-Time Gray-Box Identification of Mechanical Systems Using Subspace-Based Identification Methods

AU - Olofsson, Björn

AU - Sörnmo, Olof

AU - Robertsson, Anders

AU - Johansson, Rolf

PY - 2014

Y1 - 2014

N2 - We consider the problem of gray-box identification of dynamic models for mechanical systems. In particular, the problem is approached by means of continuous-time system identification using subspace-based methods based on discrete-time input-output identification data. A method is developed, with the property that the structure of the model resulting from fundamental physical first principles is obtained and the parameter matrices have a clear physical interpretation. The proposed method is subsequently successfully validated in both simulation and using experimental data from a micro manipulator. In both cases the identified models exhibit good fit to the input-output data. The results indicate that the proposed method can be useful in the context of model-based control design in, for example, impedance force control for robots and manipulators, but also for modal analysis of mechanical systems.

AB - We consider the problem of gray-box identification of dynamic models for mechanical systems. In particular, the problem is approached by means of continuous-time system identification using subspace-based methods based on discrete-time input-output identification data. A method is developed, with the property that the structure of the model resulting from fundamental physical first principles is obtained and the parameter matrices have a clear physical interpretation. The proposed method is subsequently successfully validated in both simulation and using experimental data from a micro manipulator. In both cases the identified models exhibit good fit to the input-output data. The results indicate that the proposed method can be useful in the context of model-based control design in, for example, impedance force control for robots and manipulators, but also for modal analysis of mechanical systems.

M3 - Paper in conference proceeding

SP - 327

EP - 333

BT - Proc. 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014), July 8-11, 2014, Besançon, France,

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Y2 - 8 July 2014

ER -

Continuous-Time Gray-Box Identification of Mechanical Systems Using Subspace-Based Identification Methods

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