Anais do 14º Simpósio Brasileiro de Automação Inteligente

This work gives a brief description about the general operation of a electromechanical positioning system (EMPS) and details a standard configuration of a drive system for prismatic joint of robots or machine tools. By using grey-box approach a dynamic identification method based on the use of the inverse dynamic identification model and a nonlinear least squares technique Four symmetric and four asymmetric friction models were employed to estimate the dynamic parameters of a EMPS. The asymmetric models have achieved a better performance on the estimation of the parameters compared to the symmetric models. Compared to the model with the lowest performance an improvement of over 90% was reach by the asymmetric Tustin frictions model.