Electro-Mechanical Positioning System

The Electro-Mechanical Positioning System is a standard configuration of a drive system for prismatic joint of robots or machine tools. The main source of nonlinearity is caused by friction effects that are present in the setup. Due to the presence of a pure integrator in the system, the measurements are obtained in a closed-loop setting.

The provided data is described in this link. The provided Electro-Mechanical Positioning System datasets are available for download here. This zip-file contains the system description and available data sets .mat file format.

Previous results on the EMPS dataset can be found here.

Special thanks to Alexandre Janot for making this dataset available.