A load-dependent transmission friction model: theory and experiments

Author

Dohring, Mark E. ; Lee, Eunjeong ; Newman, Wyatt S.

Author_Institution

Case Western Reserve Univ., Cleveland, OH, USA

fYear

1993

fDate

2-6 May 1993

Firstpage

430

Abstract

Mechanical transmission dynamics are a major source of motion disturbances and prospective instability in feedback. To overcome this problem, feed-forward compensation is often added to the control algorithm requiring an accurate friction model. A load-dependent friction model based on a wedge-like planar transmission is presented. The effects of load dependence, backlash, and tooth preload can be incorporated into the model. Derivation of the model is presented together with the results of experiments performed on a worn gear drive and a discussion of how the data fits the model

Keywords

control nonlinearities; drives; feedback; force control; friction; kinematics; robots; backlash; feed-forward compensation; feedback instability; load-dependent; mechanical transmissions; motion disturbances; nonlinear model; planar kinematic analogy; robotic force control; tooth preload; transmission friction model; wedge-like planar transmission; worn gear drive; Feedback; Feedforward systems; Force control; Friction; Hydraulic actuators; Intelligent actuators; Load modeling; Physics; Robots; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.292210

Filename

292210