DocumentCode
2053072
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
fYear
2005
fDate
24-28 July 2005
Firstpage
723
Lastpage
728
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on
Conference_Location
Monterey, CA
Print_ISBN
0-7803-9047-4
Type
conf
DOI
10.1109/AIM.2005.1511068
Filename
1511068
Link To Document