Identification of Non-Linearities in an Autonomous Robot

Abstract

Many important industrial processes or systems which can be used to solve day-to-day problems exhibit highly nonlinear behaviors. Such systems are high distillation consumptions systems, highly exothermic chemical reactions, ph. neutralization, batch systems, robotic systems, complicated networks, etc. These processes normally operate over a wide range of conditions due to large process upsets. The effects of non-linearity in any system can cause instability. This paper focused on identifying non-linearity in an autonomous robot. An autonomous robot (robot arm) was the non-linear system that was used to identify the nonlinear effect. From the simulated result presented, the non-linear parameters which were identified and characterized to show the effects of non-linearity are the dead zone and saturation. This paper also succeeded in using non-linear parameter extraction to identify the non-linearity in the robotic arm system.