DocumentCode
1289125
Title
Prestiction Friction Modeling and Position Control in an Actuated Rotary Arm
Author
Bazaei, Ali ; Moallem, Mehrdad
Author_Institution
Dept. of Electr. & Comput. Eng., Univ. of Western Ontario, London, ON, Canada
Volume
59
Issue
1
fYear
2010
Firstpage
131
Lastpage
139
Abstract
In this paper, using experiment and theory, we study the dynamic characteristics of a rotary single-link arm in free motion when the effect of hub friction is significant. Our objective is to identify the important phenomena that affect the system using an adequate friction model. We introduce a friction regime, called ??prestiction,?? and a friction model for capturing this regime. Comparisons are made with the LuGre friction model, and the effectiveness of the proposed model for friction compensation is examined in an experimental position control system.
Keywords
friction; manipulator dynamics; position control; LuGre friction model; actuated rotary arm; free motion; hub friction effect; position control; prestiction friction modeling; rotary single link arm; Friction compensation; friction model; prestiction; rotary link; slip−stick;
fLanguage
English
Journal_Title
Instrumentation and Measurement, IEEE Transactions on
Publisher
ieee
ISSN
0018-9456
Type
jour
DOI
10.1109/TIM.2009.2022109
Filename
5196788
Link To Document