Data Set and Reference Models of EMPS

The following report provides a complete description of the Electro-Mechanical Positioning System (EMPS) which is a standard configuration of a drive system for prismatic joint of robots or machine tools. First, an overview of EMPS is presented: its main components, the continuous-time inverse and direct dynamic models suitable to describe its nonlinear dynamics and the controller used to pilot it are described in details. Second, the trajectories used to excite the EMPS, the data set available in .mat file format, the identification goals and the challenges are introduced. Fourth, two source codes allowing the user to run the standard identification method adopted in robotics and simulate the EMPS are presented. The EMPS has a pure integrator, is piloted by a controller consisting of two nested loops and exhibits an asymmetrical friction. This constitutes a challenge when performing identification of such electro-mechanical systems.