DocumentCode :
314498
Title :
Friction diagnostics and modeling using DFT analysis
Author :
Popovic, M.R. ; Goldenberg, A.A.
Author_Institution :
Robotics & Autom. Lab., Toronto Univ., Ont., Canada
Volume :
2
fYear :
1997
fDate :
20-25 Apr 1997
Firstpage :
1669
Abstract :
In this paper a new method of modeling nonlinear friction as a function of both position and velocity is introduced. The proposed empirical model uses spectral analysis to identify the main sources of position dependent friction in complex mechanisms. In addition, the model describes the contribution to the overall friction of every moving part of the mechanism. In the paper, the proposed spectral-based modeling technique is used to describe the static friction of the first joint of PUMA 560 robot. Development of a complete friction model, which describes both static and sliding friction of complex mechanisms as a function of position and velocity, is the topic of our future work
Keywords :
discrete Fourier transforms; manipulator dynamics; modelling; sliding friction; spectral analysis; PUMA 560 robot; discrete Fourier transform; friction diagnostics; modeling; nonlinear friction; position; spectral analysis; velocity; Educational institutions; Force control; Force feedback; Friction; Gears; Laboratories; Robotics and automation; Robots; Teeth; Velocity control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
Type :
conf
DOI :
10.1109/ROBOT.1997.614383
Filename :
614383
Link To Document :
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