Stability enhancement of admittance control with acceleration feedback and friction compensation

Aung, Myo Thant Sin; Kikuuwe, Ryo

doi:10.1016/j.mechatronics.2017.06.011

Cited by 14 publications

(6 citation statements)

References 22 publications

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“…Controller design considering the effects of friction is necessary for realizing highly efficient and dynamic motion [1,2]. Appropriate friction models are also beneficial to force control [3], of which the stability is enhanced by friction compensation [4,5].…”

Section: Introductionmentioning

confidence: 99%

Dynamics modeling of gear transmissions with asymmetric load-dependent friction

Kikuuwe

2023

Mechanism and Machine Theory

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Section: Introductionmentioning

confidence: 99%

Dynamics modeling of gear transmissions with asymmetric load-dependent friction

Kikuuwe

2023

Mechanism and Machine Theory

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“…Controller design considering the effects of friction is necessary for realizing highly efficient and dynamic motion [1], [2]. Appropriate friction models are also beneficial to force control [3], of which the stability is enhanced by friction compensation [4], [5].…”

Section: Introductionmentioning

confidence: 99%

Dynamics Modeling of Gear Transmissions with Asymmetric Load-Dependent Friction

Kikuuwe¹

2022

Preprint

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<div>This paper proposes a new concise mathematical model of gear transmission dynamics with asymmetric load-dependent friction. It is of the form of a differential-algebraic inclusion (DAI) characterized by some parameters, including input-side and output-side asymmetry coefficients. The presented model properly captures the static friction and even the non-backdrivability. It is applicable to different classes of transmissions, such as leadscrew transmissions, worm gear transmissions, and spur gear transmissions. The DAI representation is extended into a multi-dimensional representation for articulated rigid-body systems driven through joint transmissions. Moreover, simulation algorithms are derived through the implicit Euler discretization. Some simulation examples illustrate the validity of the presented representations.</div><div><br></div>

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“…Controller design considering the effects of friction is necessary for realizing highly efficient and dynamic motion [26,31]. Appropriate friction models are also beneficial to force control [4], of which the stability is enhanced by friction compensation [5,17].…”

Section: Introductionmentioning

confidence: 99%

Dynamics Modeling of Gear Transmissions with Asymmetric Load-Dependent Friction

Kikuuwe¹

2022

Preprint

Self Cite

View full text Add to dashboard Cite

<p>This paper proposes a new concise mathematical model of gear transmission dynamics with asymmetric load-dependent friction. It is of the form of a differential-algebraic inclusion (DAI) characterized by some parameters, including input-side and output-side asymmetry coefficients. The presented model properly captures the static friction and even the non-backdrivability. It is applicable to different classes of transmissions, such as leadscrew transmissions, worm gear transmissions, and spur gear transmissions. The DAI representation is extended into a multi-dimensional representation for articulated rigid-body systems driven through joint transmissions. Moreover, simulation algorithms are derived through the implicit Euler discretization. Some simulation examples illustrate the capability of the presented simulation algorithm to reproduce load-dependent asymmetric frictional behaviors, which cannot be reproduced by conventional load-independent joint friction models.</p> <p><br></p>

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Stability enhancement of admittance control with acceleration feedback and friction compensation

Cited by 14 publications

References 22 publications

Dynamics modeling of gear transmissions with asymmetric load-dependent friction

Dynamics modeling of gear transmissions with asymmetric load-dependent friction

Dynamics Modeling of Gear Transmissions with Asymmetric Load-Dependent Friction

Dynamics Modeling of Gear Transmissions with Asymmetric Load-Dependent Friction

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