Friction Modeling for Structured Learning of Robot Dynamics

Trinh, Minh; Schwiedernoch, R.; Gründel, L.; Storms, Simon; Brecher, C.

doi:10.1007/978-3-031-18318-8_41

Cited by 3 publications

(1 citation statement)

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“…Although no damper was installed on the passive joint, damping phenomena due to friction were present. Friction torques are usually proportional to velocity [27]; hence, when the robot performed fast trajectories, damping could not be neglected. The experimental validation is equivalent to Test 6 of Section 4.…”

Section: Experimental Validationmentioning

confidence: 99%

Motion Planning of Differentially Flat Planar Underactuated Robots

Tonan,

Bottin,

Doria

et al. 2024

Robotics

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Differential flat underactuated robots have fewer actuators than degrees of freedom (DOFs). This characteristic makes it possible to design light and cost-effective robots with great dexterity. The primary challenge associated with these robots lies in effectively controlling the passive joint, in particular, when collisions with obstacles in the workspace have to be avoided. Most of the previous research focused on point-to-point motions without any control on the actual robot trajectory. In this work, a new method is presented to plan trajectories that include one or more via points. In this way, the underactuated robot can avoid the obstacles in the workspace, similarly to traditional fully actuated robots. First, a trajectory planning strategy is analytically described; then, numerical results are presented. The numerical results show the effects of the via points and of the order of the polynomials adopted to define the motion laws. In addition, experimental tests performed on a two-DOF underactuated robot are presented, and their results validate the proposed method.

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Section: Experimental Validationmentioning

confidence: 99%