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Dynamic friction model with thermal and load dependency: modeling, compensation, and external force estimation

Iskandar, Maged and 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, pp. 7367-7373. IEEE International Conference on Robotics and Automation ICRA, 20-24 May, 2019, Montreal, Canada. doi: 10.1109/ICRA.2019.8794406. ISBN 978-153866026-3. ISSN 10504729.

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Official URL: https://ieeexplore.ieee.org/document/8794406

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/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:Dynamic friction model with thermal and load dependency: modeling, compensation, and external force estimation
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Iskandar, MagedUNSPECIFIEDhttps://orcid.org/0000-0003-0644-0659UNSPECIFIED
Wolf, SebastianUNSPECIFIEDhttps://orcid.org/0000-0002-5711-5007UNSPECIFIED
Date:2019
Journal or Publication Title:2019 International Conference on Robotics and Automation, ICRA 2019
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.1109/ICRA.2019.8794406
Page Range:pp. 7367-7373
ISSN:10504729
ISBN:978-153866026-3
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 System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Robotdynamik & Simulation (old)
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:11 Mar 2022 14:35

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