Admittance and Impedance Representations of Friction Based on Implicit Euler Integration

Kikuuwe, Ryo; Takesue, Naoyuki; Sano, A.; Mochiyama, Hiromi; Fujimoto, Hideo

doi:10.1109/tro.2006.886262

Cited by 79 publications

(56 citation statements)

References 25 publications

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“…Kikuuwe et al's [4] friction model is also presented in the discrete-time domain and can be seen as a generalization of the …”

Section: Friction Model On Which Previous Compensator Is Basedmentioning

confidence: 99%

“…By substituting (5) bẏ q := (q k − q k−1 )/T where T is the time-step size, one can obtain the algorithm (3) through the relation (8). The details of the derivation can be found in [4], [11]. The set of simultaneous differential equations (5), and its discrete-time counterpart (3), can be seen as the simplest form of an elastoplastic model, which is a serial connection of the elasticity and the Coulomb friction.…”

Section: Friction Model On Which Previous Compensator Is Basedmentioning

confidence: 99%

“…For example, Dupont et al's model [3] is an elastoplastic friction model with a sophisticated presliding behavior. Kikuuwe et al [4] have proposed a viscoelasto-plastic model, which includes non-zero viscosity in the presliding region. Xiong et al's model [5] is a multi-state friction model, which is composed of multiple viscoelasto-plastic elements connected in parallel.…”

Section: Introductionmentioning

confidence: 99%

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Some Improvements in Elastoplastic Friction Compensator

Iwatani

Kikuuwe

2017

SICE Journal of Control, Measurement, and System Integration

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: For robotic joints with compliant transmissions, Mahvash and Okamura have proposed a friction compensator based on an elastoplastic friction model. One drawback of the compensator is that the compensator continues producing non-zero output force in the static friction state, which results in the degraded backdrivability of joints. In order to remedy this problem, this paper proposes an elastoplastic friction compensator with improved static friction behavior, which is realized by an additional term that makes the output force exponentially decay in the static friction state. This paper also proposes an additional algorithm that adjust the decay rate of the output force in real time. The proposed methods are experimentally tested with a linear actuator with a timing belt and a six-axis industrial manipulator.

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“…Kikuuwe et al's [4] friction model is also presented in the discrete-time domain and can be seen as a generalization of the …”

Section: Friction Model On Which Previous Compensator Is Basedmentioning

confidence: 99%

Section: Friction Model On Which Previous Compensator Is Basedmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Some Improvements in Elastoplastic Friction Compensator

Iwatani

Kikuuwe

2017

SICE Journal of Control, Measurement, and System Integration

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“…The admittance-type friction model proposed by (Kikuuwe et al, 2006) is adopted to avoid numerical oscillation due to the friction force. A brief review of this model is provided as follows.…”

Section: Friction Force On the Contact Planementioning

confidence: 99%

Computational model of coil placement in cerebral aneurysm with using realistic coil properties

Otani

Satoshi

Shigematsu

et al. 2015

JBSE

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This study presents a computational mechanical model of coil placement in cerebral aneurysms with using realistic coil properties. The mechanical behavior of the coil is expressed by solving a variational problem including the kinetic and elastic energies of the coil and geometric constraints due to the multiple contacts. The coil is discretized as a set of beam elements obeying Timoshenko beam theory, in which these elastic properties are determined based on the actual shape and material property of the coil. Numerical examples of the coil placement are presented for four cases with different coil properties in terms of the elastic property (hard and soft) and reference configurations (helical loop and complex loop) within the realistic range. These results exhibit the effects of the coil properties on not only the transition of the coil configuration during the placement process but also the contact force of the coil against the aneurysm wall which has a fatal risk of bleeding in the operation. The proposed computational model will assist surgeons to select the appropriate coil and coil deployment protocol to achieve the sufficient treatment effectiveness with minimizing the risk of bleeding in the view of the mechanical sense.

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“…，仮想的な摩擦環境を付与する作業支援 (7) などがある．これらの研究では，操作者の作業負荷を軽減すること， * 原稿受付 2013 年 2 月 28 日 *1 同志社大学大学院生命医科学研究科 *2 正員，同志社大学生命医科学部医工学科（〒610-0321 京都府京田辺市多々羅都谷 1-3） E-mail: ttsumugi@mail.doshisha.ac.jp Positioning support…”

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Analysis and Evaluation Method for a Human Motion Skill Proficiency for Human-Robot Cooperative Positioning Task

Okamoto

Tsumugiwa²,

Yokogawa³

2013

Trans.JSME(C)

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The purpose of this study is to investigate proficiency process of a human motion skill for the robot operation and a relationship between the activity level of the higher brain function and the human-robot cooperative positioning operation in which mechanical positioning supports assist operator's motion with a 1-DOF linear track robot. In this study, to reveal the proficiency process for the robot operation under the impedance control, a quantitative evaluation analyzing both time-normalized trajectories of operator's motion and the activity level of the higher brain function is carried out. Using the time-normalized trajectories, the quantitative evaluation can be carried out among several experimental conditions and data obtained from various operators and trials. Experiments were conducted to elucidate the relationship between the proficiency process for the robot operation and the activity level of the higher brain function. In the experiments, different three types of mechanical positioning supports are introduced to reduce operator's work load and to increase positioning accuracy in the positioning cooperative task between the human and the impedance-controlled robot. The introduced mechanical positioning supports in this paper are as following: i) active positioning support utilizing additional force; ii) passive positioning support using a variable viscosity; iii) frictional positioning support by Coulomb-like virtual friction. In addition, the activity level of the higher brain function in the experiments was measured using NIRS measurement system. The experimental results show that the relationship between the activity level of the higher brain function and the proficiency process for the robot operation on the human-robot cooperative positioning task is observed.

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Admittance and Impedance Representations of Friction Based on Implicit Euler Integration

Cited by 79 publications

References 25 publications

Some Improvements in Elastoplastic Friction Compensator

Some Improvements in Elastoplastic Friction Compensator

Computational model of coil placement in cerebral aneurysm with using realistic coil properties

Analysis and Evaluation Method for a Human Motion Skill Proficiency for Human-Robot Cooperative Positioning Task

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