Position control of a two-bar linkage with acceleration-based identification and feedback

In this paper, the use of inertial sensors in combination with system identification methods is proposed to develop a model of the compliance transfer function that can be used for position-following control of a linkage. The inertial sensors are used off-line to develop the compliance model and on-line as signals for feedback. The advantage of this approach is that inertial sensors such as accelerometers and gyros are less expensive than position sensors. However, the method is limited to small amplitude motion with control accuracy limited by the fidelity of the identified transfer functions.