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Keywords: Direct drive system
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Proceedings Papers

Proc. ASME. MSEC2013, Volume 2: Systems; Micro and Nano Technologies; Sustainable Manufacturing, V002T02A024, June 10–14, 2013
Paper No: MSEC2013-1058
... In this paper, we present a systematic modeling method of direct drive systems. Experiments are designed to decouple and model friction and force ripple separately, which are two major sources of tracking error. Three different optimization methods, least square method, nonlinear least square...