Friction identification in robotic manipulators: case studies

Author

Kermani, M.R. ; Patel, R.V. ; Moallem, M.

Author_Institution

Dept. of Electr. & Comput. Eng., Western Ontario Univ., London, Ont.

fYear

2005

fDate

28-31 Aug. 2005

Firstpage

1170

Lastpage

1175

Abstract

In this paper, friction identification in robotic manipulators is studied. A single state dynamic model of the friction force is utilized for the friction compensation algorithm. A practical method for obtaining parameters of the model which pertains to robotic manipulators is presented. In order to evaluate the competence of this method, two different manipulators with different friction characteristics are examined. A 2-DOF manipulator used for high-speed, micro-meter precision manipulation and a 4-DOF macro-manipulator used for long-reach positioning tasks are considered. It is shown that despite the different nature of the two manipulators, the same method can effectively improve the speed and performance of manipulation in both cases

Keywords

friction; manipulator dynamics; parameter estimation; 2-DOF manipulator; 4-DOF macromanipulator; friction compensation; friction identification; high-speed micrometer precision manipulation; robotic manipulators; single state dynamic model; Computer aided software engineering; Electrical equipment industry; Force feedback; Force measurement; Friction; Industrial control; Manipulator dynamics; Motion control; Robots; Steady-state;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on

Conference_Location

Toronto, Ont.

Print_ISBN

0-7803-9354-6

Type

conf

DOI

10.1109/CCA.2005.1507289

Filename

1507289