elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

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: 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.

[img] PDF
4MB

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 AuthorsAuthors ORCID iD
Iskandar, MagedMaged.Iskandar (at) dlr.dehttps://orcid.org/0000-0003-0644-0659
Wolf, Sebastiansebastian.wolf (at) dlr.dehttps://orcid.org/0000-0002-5711-5007
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

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.