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Iskandar, Maged and Wolf, Sebastian (2019) Dynamic friction model with thermal and load dependency: modeling, compensation, and external force estimation. In: IEEE International Conference on Robotics and Automation ICRA, pp. 7367-7373. IEEE International Conference on Robotics and Automation ICRA, 20-24 May, 2019, Montreal, Canada.
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Abstract
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.
| Item URL in elib: | https://elib.dlr.de/128180/ | |||||||||
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| Document Type: | Conference or Workshop Item (Speech, Poster) | |||||||||
| Title: | Dynamic friction model with thermal and load dependency: modeling, compensation, and external force estimation | |||||||||
| Authors: |
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| Date: | 2019 | |||||||||
| 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. 7367-7373 | |||||||||
| Status: | Published | |||||||||
| Keywords: | 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 | |||||||||
| Event Title: | IEEE International Conference on Robotics and Automation ICRA | |||||||||
| Event Location: | Montreal, Canada | |||||||||
| Event Type: | international Conference | |||||||||
| Event Dates: | 20-24 May, 2019 | |||||||||
| 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 Robotdynamik & Simulation | |||||||||
| Location: | Oberpfaffenhofen | |||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems | |||||||||
| Deposited By: | Iskandar, Maged Samuel Zakri | |||||||||
| Deposited On: | 08 Jul 2019 12:05 | |||||||||
| Last Modified: | 19 Aug 2019 11:02 |
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