DocumentCode
1976210
Title
Friction: experimental determination, modeling and compensation
Author
Armstrong, Brian
Author_Institution
Dept. of Comput. Sci., Stanford Univ., CA, USA
fYear
1988
fDate
24-29 Apr 1988
Firstpage
1422
Abstract
The friction behavior of a brush-type-DC-servomotor-driven mechanism with gearing is explored. The standard kinetic plus viscous friction model is found to describe the dominant friction behavior. In addition, a dependence of friction on position is identified and negative velocity dependence is observed at low velocities. A friction model is developed and used to precompute motion torques. The application of a precomputed torques in an open-loop fashion results in motion accurate to within a few percent
Keywords
DC motors; compensation; friction; servomotors; torque control; brush-type-DC-servomotor-driven mechanism; dominant friction behavior; gearing; kinetic plus viscous friction model; torque control; Acceleration; Accelerometers; Bandwidth; Brushes; DC motors; Friction; Kinetic theory; Motion measurement; Stability analysis; Torque measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location
Philadelphia, PA
Print_ISBN
0-8186-0852-8
Type
conf
DOI
10.1109/ROBOT.1988.12266
Filename
12266
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