Details
| Original language | English |
|---|---|
| Title of host publication | 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control |
| Pages | 2510-2515 |
| Publication status | Published - 2006 |
Abstract
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2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control . 2006. p. 2510-2515.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - On compensation of passive joint friction in robotic manipulators: Modeling, detection and identification
AU - Abdellatif, H.
AU - Heimann, Bodo
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
M3 - Conference contribution
SN - 0-7803-9797-5
SP - 2510
EP - 2515
BT - 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control
ER -