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Extending a Dynamic Friction Model with Nonlinear Viscous and Thermal Dependency for a Motor and Harmonic Drive Gear

Wolf, Sebastian and Iskandar, Maged Samuel Zakri (2018) Extending a Dynamic Friction Model with Nonlinear Viscous and Thermal Dependency for a Motor and Harmonic Drive Gear. In: IEEE International Conference on Robotics and Automation ICRA, pp. 783-790. 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia.

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Abstract

In robotic actuation a well identified and modeled friction behavior of the actuator components helps to significantly improve friction compensation, output torque estimation, and dynamic simulations. The friction of two components, i.e. a brush-less DC motor and a harmonic drive gear (HD) is investigated in order to build an accurate dynamic model of the main actuator of the arms of the humanoid David namely the DLR Floating Spring Joint (FSJ). A dedicated testbed is built to precisely identify input and output torques, temperatures, positions, and elasticities of the investigated components at a controlled environment temperature. Extensive test series are performed in the full velocity operating range in a temperature interval from 24 to 50° C. The nonlinear influences of velocity and temperature are identified to be dominant effects. It is proposed how to include these nonlinear velocity and temperature dependencies into a static and a dynamic friction model, e.g. LuGre. Dynamic models of the motor and HD are built with the proposed method and experimentally evaluated. The new models are compared to friction models with linear dependencies and show a significant improvement of correspondence with reality.

Item URL in elib:https://elib.dlr.de/120472/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:Extending a Dynamic Friction Model with Nonlinear Viscous and Thermal Dependency for a Motor and Harmonic Drive Gear
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Wolf, Sebastiansebastian.wolf (at) dlr.dehttps://orcid.org/0000-0002-5711-5007
Iskandar, Maged Samuel ZakriMaged.Iskandar (at) dlr.dehttps://orcid.org/0000-0003-0644-0659
Date:21 May 2018
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 783-790
Status:Published
Keywords:Friction modelling, Harmonic Drive Gear, dynamic friciton model, nonlinear viscous friction, nonlinear temperature friction dependency
Event Title:2018 IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Brisbane, Australia
Event Type:international Conference
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Mechatronik, R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Deposited By: Wolf, Dipl.-Ing. Sebastian
Deposited On:22 Jun 2018 17:47
Last Modified:31 Jul 2019 20:18

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