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Iskandar, Maged und Wolf, Sebastian (2019) Dynamic friction model with thermal and load dependency: modeling, compensation, and external force estimation. In: 2019 International Conference on Robotics and Automation, ICRA 2019, Seiten 7367-7373. IEEE International Conference on Robotics and Automation ICRA, 2019-05-20 - 2019-05-24, Montreal, Canada. doi: 10.1109/ICRA.2019.8794406. ISBN 978-153866026-3. ISSN 1050-4729.
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Offizielle URL: https://ieeexplore.ieee.org/document/8794406
Kurzfassung
A physically-motivated friction model with a parametric description of the nonlinear dependency of the temperature and velocity as well as the dependency on external load is presented. The fully parametric approach extends a static friction model in the gross sliding regime. We show how it can be seamlessly integrated in standard dynamic friction models such as Lund Grenoble (LuGre) and Generalized-Maxwell-Slip (GMS). Parameters of a Harmonic Drive CSD 25 gear are experimentally identified and the final model is evaluated on a dedicated test-bed. We show the integration and effectiveness in dynamic simulation, friction compensation, and external torque estimation.
| elib-URL des Eintrags: | https://elib.dlr.de/128180/ | ||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag, Poster) | ||||||||||||
| Titel: | Dynamic friction model with thermal and load dependency: modeling, compensation, and external force estimation | ||||||||||||
| Autoren: |
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| Datum: | 2019 | ||||||||||||
| Erschienen in: | 2019 International Conference on Robotics and Automation, ICRA 2019 | ||||||||||||
| Referierte Publikation: | Ja | ||||||||||||
| Open Access: | Ja | ||||||||||||
| Gold Open Access: | Nein | ||||||||||||
| In SCOPUS: | Ja | ||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||
| DOI: | 10.1109/ICRA.2019.8794406 | ||||||||||||
| Seitenbereich: | Seiten 7367-7373 | ||||||||||||
| ISSN: | 1050-4729 | ||||||||||||
| ISBN: | 978-153866026-3 | ||||||||||||
| Status: | veröffentlicht | ||||||||||||
| Stichwörter: | Model based friction compensation, Friction modeling, Harmonic Drive Gear, dynamic friction model, nonlinear viscous friction, nonlinear temperature friction dependency, sensor-less torque control, external force observer | ||||||||||||
| Veranstaltungstitel: | IEEE International Conference on Robotics and Automation ICRA | ||||||||||||
| Veranstaltungsort: | Montreal, Canada | ||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||
| Veranstaltungsbeginn: | 20 Mai 2019 | ||||||||||||
| Veranstaltungsende: | 24 Mai 2019 | ||||||||||||
| Veranstalter : | IEEE | ||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||
| HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||
| DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben Robotdynamik & Simulation (alt) | ||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme Institut für Robotik und Mechatronik (ab 2013) > Mechatronische Systeme | ||||||||||||
| Hinterlegt von: | Iskandar, Maged Samuel Zakri | ||||||||||||
| Hinterlegt am: | 08 Jul 2019 12:05 | ||||||||||||
| Letzte Änderung: | 21 Okt 2024 11:03 |
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