Title :
Limit cycles due to friction forces in flexible joint mechanisms
Author :
Jeon, Soo ; Tomizuka, Masayoshi
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA
Abstract :
The paper investigates the limit cycle phenomena in flexible joint mechanisms due to motor side Coulomb friction and load side friction with more emphasis on the latter. Two friction forces are studied separately as independent sources of limit cycles. Controller instability is considered as a sufficient condition for a limit cycle to appear. Simulation and experimental results are presented to confirm analysis
Keywords :
flexible manipulators; friction; limit cycles; stability; controller instability; flexible joint mechanisms; friction forces; limit cycles; load side friction; motor side Coulomb friction; Control systems; Friction; Hysteresis motors; Limit-cycles; PD control; Pi control; Proportional control; State feedback; Sufficient conditions; Weight control;
Conference_Titel :
Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-9047-4
DOI :
10.1109/AIM.2005.1511068
