Friction Identification and Compensation in Robotic Manipulators

Kermani, Mehrdad R.; Patel, Rajni V.; Moallem, M.

doi:10.1109/tim.2007.907957

Cited by 91 publications

(48 citation statements)

References 14 publications

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“…The parameter can be 0.316 N⋅s/mm [18], 0.214 N⋅s/mm [14], and 0.5 N⋅s/mm [23]. Mehmood et al (2012) and Yu et al [24] obtained sensitivity analysis results of parameters in the LuGre friction model.…”

Section: Simulation Parametersmentioning

confidence: 99%

Modeling Friction Performance of Drill String Torsional Oscillation Using Dynamic Friction Model

Wang

Chen

Rui

et al. 2017

Shock and Vibration

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Drill string torsional and longitudinal oscillation can significantly reduce axial drag in horizontal drilling. An improved theoretical model for the analysis of the frictional force was proposed based on microscopic contact deformation theory and a bristle model. The established model, an improved dynamic friction model established for drill strings in a wellbore, was used to determine the relationship of friction force changes and the drill string torsional vibration. The model results were in good agreement with the experimental data, verifying the accuracy of the established model. The analysis of the influence of drilling mud properties indicated that there is an approximately linear relationship between the axial friction force and dynamic shear and viscosity. The influence of drill string torsional oscillation on the axial friction force is discussed. The results indicated that the drill string transverse velocity is a prerequisite for reducing axial friction. In addition, low amplitude of torsional vibration speed can significantly reduce axial friction. Then, increasing the amplitude of transverse vibration speed, the effect of axial reduction is not significant. In addition, by involving general field drilling parameters, this model can accurately describe the friction behavior and quantitatively predict the frictional resistance in horizontal drilling.

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Section: Simulation Parametersmentioning

confidence: 99%

Modeling Friction Performance of Drill String Torsional Oscillation Using Dynamic Friction Model

Wang

Chen

Rui

et al. 2017

Shock and Vibration

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“…This weight is equal to 2N. The friction torques acting on the joints of the robots are generated based on the model in (Kermani et al, 2007), (Armstrong-Hélouvry et al, 1994). For the i − th joint of the robot, i = 1, 2, 3, 4, the friction is modelled as…”

Section: Simulation Studymentioning

confidence: 99%

Nonlinear disturbance observer design for robotic manipulators

Mohammadi

Tavakoli

Marquez

et al. 2013

Control Engineering Practice

392

224

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Robotic manipulators are highly nonlinear and coupled systems that are subject to different types of disturbances such as joint frictions, unknown payloads, varying contact points, and unmodeled dynamics. These disturbances, when unaccounted for, adversely affect the performance of the manipulator. Employing a disturbance observer is a common method to reject such disturbances. In addition to disturbance rejection, disturbance observers can be used in force control applications. Recently, research has been done regarding the design of nonlinear disturbance observers (NLDOs) for robotic manipulators. In spite of good results in terms of disturbance tracking, the previously designed nonlinear disturbance observers can merely be used for planar serial manipulators with revolute joints (Chen, W.H., Ballance, D.J., Gawthorp, P.J., O'Reilly, J., 2000. A nonlinear disturbance observer for robotic manipulators. IEEE Trans. Ind. Electron. 47, 932-938), (Nikoobin, A., Haghighi, R., 2009. Lyapunov-based nonlinear disturbance observer for serial n-link manipulators. J. Intell. Robot. Syst. 55,[135][136][137][138][139][140][141][142][143][144][145][146][147][148][149][150][151][152][153]. In this paper, a general systematic approach is proposed to solve the disturbance observer design problem for robotic manipulators without restrictions on the number of degrees-of-freedom (DOFs), the types of joints, or the manipulator configuration. Moreover, this design method does not need the exact dynamic model of the serial robotic manipulator. This method also * Corresponding author, Tel.: +1 (647) unifies the previously proposed linear and nonlinear disturbance observers in a general framework. Simulations are presented for a 4-DOF SCARA manipulator to show the effectiveness of the proposed disturbance observer design method. Experimental results using a PHANToM Omni haptic device further illustrate the effectiveness of the design method.

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“…The prediction error of the power regression model is defined in (19). For our robot arm, the regressor matrix is given by:…”

Section: Power Regression Modelmentioning

confidence: 99%

Experimental Evaluation of Parameter Identification Schemes on an Anthropomorphic Direct Drive Robot

Chávez-Olivares

Reyes-Cortés

González-Galván

et al. 2012

International Journal of Advanced Robotic Systems

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The inertial and friction parameters of a robot are used in the development and evaluation of modelbased control schemes and their accuracy is related directly to the performance. These parameters can also be used for a realistic simulation, which may be useful before implementation of new control schemes. In principle, the numerical value of the parameters could be obtained via CAD analysis, but inevitably assembly and manufacturing errors exist. Direct measurement is not a realistic option because the complex nature of the system involves intense, time-consuming effort. Alternatively, we can deduce the values of the parameters by observing the natural response of the system under appropriate experimental conditions, i.e., by using identification schemes, which is an efficient way. This paper presents the experimental evaluation of five identification schemes used to obtain the inertial and friction parameters of a three-degrees-of-freedom direct-drive robot. We assume that the inertial and friction parameters are totally unknown but, by design, the dynamic model is fully known, as in many practical cases. We consider the schemes based on the dynamic regression model, the filtered-dynamic regression model, the supplied-energy regression model, the power regression model and the filtered-power regression model. This paper presents a comparison between experimental and simulated robot response, which enables us to verify the accuracy of each regression model.

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Friction Identification and Compensation in Robotic Manipulators

Cited by 91 publications

References 14 publications

Modeling Friction Performance of Drill String Torsional Oscillation Using Dynamic Friction Model

Modeling Friction Performance of Drill String Torsional Oscillation Using Dynamic Friction Model

Nonlinear disturbance observer design for robotic manipulators

Experimental Evaluation of Parameter Identification Schemes on an Anthropomorphic Direct Drive Robot

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