Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | CISM International Centre for Mechanical Sciences, Courses and Lectures |
| Herausgeber (Verlag) | Springer International Publishing AG |
| Seiten | 73-80 |
| Seitenumfang | 8 |
| Publikationsstatus | Veröffentlicht - 2006 |
Publikationsreihe
| Name | CISM International Centre for Mechanical Sciences, Courses and Lectures |
|---|---|
| Band | 487 |
| ISSN (Print) | 0254-1971 |
| ISSN (elektronisch) | 2309-3706 |
Abstract
In this paper an overview on joint-friction for parallel kinematic manipulators (PKM) is proposed. An efficient modeling approach is given, where dissipation in all passive and active joints are uniformly formulated and transformed in the actuation space in parameter-linear form. Furthermore, it is shown, how friction characteristics can be identified independently from any other dynamic influences. Two sections are considered to the practical issues of friction in terms of feedforward and time-optimal control.
ASJC Scopus Sachgebiete
- Mathematik (insg.)
- Modellierung und Simulation
- Ingenieurwesen (insg.)
- Werkstoffmechanik
- Ingenieurwesen (insg.)
- Maschinenbau
- Informatik (insg.)
- Angewandte Informatik
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- BibTex
- RIS
CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing AG, 2006. S. 73-80 (CISM International Centre for Mechanical Sciences, Courses and Lectures; Band 487).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Beitrag in Buch/Sammelwerk › Forschung › Peer-Review
}
TY - CHAP
T1 - The Impact of Friction on the Dynamics of Parallel Robotic Manipulators
AU - Abdellatif, H.
AU - Heimann, Bodo
AU - Grotjahn, Martin
PY - 2006
Y1 - 2006
N2 - In this paper an overview on joint-friction for parallel kinematic manipulators (PKM) is proposed. An efficient modeling approach is given, where dissipation in all passive and active joints are uniformly formulated and transformed in the actuation space in parameter-linear form. Furthermore, it is shown, how friction characteristics can be identified independently from any other dynamic influences. Two sections are considered to the practical issues of friction in terms of feedforward and time-optimal control.
AB - In this paper an overview on joint-friction for parallel kinematic manipulators (PKM) is proposed. An efficient modeling approach is given, where dissipation in all passive and active joints are uniformly formulated and transformed in the actuation space in parameter-linear form. Furthermore, it is shown, how friction characteristics can be identified independently from any other dynamic influences. Two sections are considered to the practical issues of friction in terms of feedforward and time-optimal control.
KW - Feedforward Control
KW - Friction Characteristic
KW - Multibody System
KW - Parallel Robot
KW - Passive Joint
UR - http://www.scopus.com/inward/record.url?scp=85053188739&partnerID=8YFLogxK
U2 - 10.1007/3-211-38927-X_11
DO - 10.1007/3-211-38927-X_11
M3 - Contribution to book/anthology
AN - SCOPUS:85053188739
T3 - CISM International Centre for Mechanical Sciences, Courses and Lectures
SP - 73
EP - 80
BT - CISM International Centre for Mechanical Sciences, Courses and Lectures
PB - Springer International Publishing AG
ER -