Sytem Identification

System identification for SAMII was performed by exciting joint 2 with swept and fixed sine inputs while the system was in a nominal configuration.

Block Diagram of the System
Bode plots for the hydraulic actuator and the flexible base of SAMII

This figure shows Bode diagrams for the hydraulic actuator.  The input is voltage and the output is angular position in degrees.  The red line is the output of the model.

This figure shows Bode diagrams for the flexbile base.  The input is angular position (the output of the hydraulic actuator Bode diagram above) and the output is angular position in degrees.  The red line is the output of the model.

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