A measurement procedure for viscous and coulomb friction

Kelly, Rafael; Llamas, Juan-David; Campa, Ricardo

doi:10.1109/19.863938

Cited by 102 publications

(58 citation statements)

References 10 publications

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“…6 shows velocity response of the rotor when a torque ramp of m = 0.02mNm/s was applied. The shape of velocity response curve matched the Armstrong model presented in [20]. From the slope of the angular velocity it was determined that a = 5.1, therefore, viscous friction is b = 3.9 × 10 −6 Nms.…”

Section: Friction Coefficient (B)supporting

confidence: 67%

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Modeling and Control of Local Electromagnetic Actuation for Robotic-Assisted Surgical Devices

Mohammadi

Samsonas

Leong

et al. 2017

IEEE/ASME Trans. Mechatron.

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Abstract-This paper proposes an electromagnetic based Local Magnetic Actuation (LMA) as a novel actuation system for cases where it is required to actuate a mechanical system across a physical barrier. The main motivation for LMA is in the area of minimally invasive robotic surgery where it is desired to actuate the surgical manipulators across the abdominal wall. In the Local ElectroMagnetic Actuation (LEMA) approach, it is proposed that the magnetic field is produced by a pair of electromagnetic stators, acting across a physical barrier (the abdominal wall) and interacts with the magnetic field of the permanent magnet rotor on the other side of the barrier. The mathematical model of the electromechanical system is developed by exploiting the principles of synchronous motors. Control strategy was then developed to regulate the rotor speed in the presence of model uncertainties, load disturbances and axes misalignment. Furthermore, the performance of the controllers is evaluated in two cases: with Hall effect sensor embedded internally in the abdominal cavity close to the permanent magnet rotor and placed externally to the abdominal cavity close to the stators. The main contribution is the application of electromagnetic strategies in the unique setting of rotor actuation across a physical wall, focusing mainly on the dynamics modelling of the resulting structure and evaluation of its performance for surgical application. The proposed model and actuation strategies allow robust control of the desired speed and torque of the internal rotor and this is demonstrated through experiments.

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Section: Friction Coefficient (B)supporting

confidence: 67%

“…In order obtain the viscous friction, the procedure that is proposed in [20] is employed. In this procedure, a torque ramp is applied as T e (t) = mt, where t denoted the time and m > 0 is the ramp slope.…”

Section: Friction Coefficient (B)mentioning

confidence: 99%

Modeling and Control of Local Electromagnetic Actuation for Robotic-Assisted Surgical Devices

Mohammadi

Samsonas

Leong

et al. 2017

IEEE/ASME Trans. Mechatron.

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“…[13]. Moreover, assuming high rotational speed of the rotors, the Coulomb friction term for the corresponding coordinates can be neglected.…”

Section: The Viscous Forces Due To Friction In Ball Bearingsmentioning

confidence: 99%

Complete dynamic model of the Twin Rotor MIMO System (TRMS) with experimental validation

Tastemirov

Lecchini‐Visintini

Morales-Viviescas

2017

Control Engineering Practice

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“…The plot of ball angular velocityθ vs. time after breakaway can be approximated by a line of constant slope c (Kelly et al 2000) as shown in Fig. 8.…”

Section: ) Friction Modelingmentioning

confidence: 99%

The ballbot: An omnidirectional balancing mobile robot

Nagarajan

Kantor

Hollis

2013

The International Journal of Robotics Research

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Abstract-The ballbot is a human-sized dynamically stable mobile robot that balances on a single ball. Unlike statically stable mobile robots, the ballbot is tall and narrow with a high center of gravity and a small footprint. Moreover, its dynamic stability enables it to be physically interactive. These characteristics make it better suited to navigate and interact in cluttered human environments. This paper presents the evolved hardware design of the ballbot with a four-wheel inverse mouse-ball drive to actuate the ball, and a yaw drive mechanism that enables unlimited rotation about its vertical axis. The ballbot also has a triad of legs that provide static stability when powered down. This paper presents a detailed description of the ballbot's control architecture, and it presents several experimental results that demonstrate its balancing and locomotion capabilities. This paper also presents a trajectory planning algorithm that plans for body lean motions, which when tracked result in the desired rest-to-rest motions of the robot. Finally, the paper illustrates some interesting human-robot physical interaction behaviors that can be achieved as a result of the ballbot's dynamic stability.

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A measurement procedure for viscous and coulomb friction

Cited by 102 publications

References 10 publications

Modeling and Control of Local Electromagnetic Actuation for Robotic-Assisted Surgical Devices

Modeling and Control of Local Electromagnetic Actuation for Robotic-Assisted Surgical Devices

Complete dynamic model of the Twin Rotor MIMO System (TRMS) with experimental validation

The ballbot: An omnidirectional balancing mobile robot

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