On compensation of passive joint friction in robotic manipulators: Modeling, detection and identification

Publikation: Beitrag in Buch/Bericht/Sammelwerk/KonferenzbandAufsatz in KonferenzbandForschungPeer-Review

Autoren

  • H. Abdellatif
  • Bodo Heimann

Organisationseinheiten

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Details

OriginalspracheEnglisch
Titel des Sammelwerks 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control
Seiten2510-2515
PublikationsstatusVeröffentlicht - 2006

Abstract

The progress made in friction compensation in robotics was concentrated on friction losses in the actuated joints. Today new mechanisms with a considerable number of passive joints, such parallel manipulators are emerging. This paper opens the discussion on the influence of passive joint friction (PJF) in robot's dynamics and its impact on control performance. It gives a basic framework on the modeling, detection and identification of such phenomena. All proposed methods pass on additional sensors and use only the actuators for detection and compensation. Due to its dependency on the robot's configuration, even small magnitudes of PJF can affect the system behavior, especially at unfavorable poses. To the best knowledge of the authors, the problem of PJF-compensation was not addressed systematically in literature yet.

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On compensation of passive joint friction in robotic manipulators: Modeling, detection and identification. / Abdellatif, H.; Heimann, Bodo.
2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control . 2006. S. 2510-2515.

Publikation: Beitrag in Buch/Bericht/Sammelwerk/KonferenzbandAufsatz in KonferenzbandForschungPeer-Review

Abdellatif, H & Heimann, B 2006, On compensation of passive joint friction in robotic manipulators: Modeling, detection and identification. in 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control . S. 2510-2515.
Abdellatif, H., & Heimann, B. (2006). On compensation of passive joint friction in robotic manipulators: Modeling, detection and identification. In 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control (S. 2510-2515)
Abdellatif H, Heimann B. On compensation of passive joint friction in robotic manipulators: Modeling, detection and identification. in 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control . 2006. S. 2510-2515
Abdellatif, H. ; Heimann, Bodo. / On compensation of passive joint friction in robotic manipulators: Modeling, detection and identification. 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control . 2006. S. 2510-2515
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