Xuan-ju DANG, Si-ying HE. Hysteresis modeling for flexible joint of industrial robot using asymmetric hysteresis operator[J]. Optics and Precision Engineering, 2021, 29(10): 2412
- Optics and Precision Engineering
- Vol. 29, Issue 10, 2412 (2021)
Fig. 1. Symmetric PI operator
Fig. 2. Improved new operator
Fig. 3. Structure of new model
Fig. 4. Maximum forward velocity 0.825 rad·s- 1；Maximum reverse velocity 1.925 rad·s- 1
Fig. 5. Prediction results for the first data set
Fig. 6. Prediction errors for the first data set
Fig. 7. Maximum forward velocity 1.1 rad·s- 1；Maximum reverse velocity 1.65 rad·s- 1
Fig. 8. Prediction results for the second data set
Fig. 9. Prediction errors for the second data set
Fig. 10. Maximum forward velocity 1.65 rad·s- 1；Maximum reverse velocity 1.1 rad·s- 1
Fig. 11. Prediction results for the third data set
Fig. 12. Prediction errors for the third data set
Fig. 13. Maximum forward velocity 1.925 rad·s- 1；Maximum reverse velocity 0.825 rad·s- 1
Fig. 14. Prediction results for the fourth data set
Fig. 15. Prediction errors for the fourth data set
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Table 1. Comparison of verification results in different data sets
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