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Identification and Compensation of Gear Friction for Modeling of Robots

Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review

Autorschaft

  • M. Daemi
  • Bodo Heimann

Organisationseinheiten

Details

OriginalspracheEnglisch
Titel des SammelwerksProc. of the 11th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, RoManSy96
ErscheinungsortUdine, Italy
Seiten89-99
Seitenumfang11
PublikationsstatusVeröffentlicht - 1996

Abstract

The identification of the dynamics of a standard industrial robot is solved by the application of the multivariable least square method. In order to eliminate the dominant influence of friction in gears and joints a nonlinear friction model is adapted to measured friction characteristics. Its influence is compensated in the identification step. The base parameter vector is grouped and optimal trajectories are used to identify each group. The quality of the identified model is verified by comparison of measured trajectories and torques predicted by the model.

Zitieren

Identification and Compensation of Gear Friction for Modeling of Robots. / Daemi, M.; Heimann, Bodo.
Proc. of the 11th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, RoManSy96. Udine, Italy, 1996. S. 89-99.

Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review

Daemi, M & Heimann, B 1996, Identification and Compensation of Gear Friction for Modeling of Robots. in Proc. of the 11th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, RoManSy96. Udine, Italy, S. 89-99.
Daemi, M., & Heimann, B. (1996). Identification and Compensation of Gear Friction for Modeling of Robots. In Proc. of the 11th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, RoManSy96 (S. 89-99).
Daemi M, Heimann B. Identification and Compensation of Gear Friction for Modeling of Robots. in Proc. of the 11th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, RoManSy96. Udine, Italy. 1996. S. 89-99
Daemi, M. ; Heimann, Bodo. / Identification and Compensation of Gear Friction for Modeling of Robots. Proc. of the 11th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, RoManSy96. Udine, Italy, 1996. S. 89-99
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