Title :
Real-time identification of sliding friction using LabVIEW FPGA
Author :
Mears, M. Laine ; Falcon, Jeannie S. ; Kurfess, Thomas R.
Author_Institution :
Georgia Inst. of Technol., Atlanta, GA
Abstract :
Friction is present in all mechanical systems, and can greatly affect system stability and control in precision motion applications. In this paper, we present application of a frictional model to trajectory planning of a part centering system with real-time identification of model parameters through system force and position response. This identification is carried out using LabVIEW motion control software and digital signal processing (DSP) and field-programmable gate array (FPGA) hardware. A comparison of hardware performance for force measurement is also made
Keywords :
control system analysis computing; field programmable gate arrays; friction; motion control; real-time systems; LabVIEW field-programmable gate array; LabVIEW motion control software; digital signal processing; mechanical systems; part centering system; precision motion applications; real-time identification; sliding friction; system control; system stability; trajectory planning; Application software; Control systems; Digital signal processing; Field programmable gate arrays; Friction; Hardware; Mechanical systems; Motion control; Sliding mode control; Stability;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1656415
