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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: 2019 International Conference on Robotics and Automation, ICRA 2019, pp. 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 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/ | ||||||||||||
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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: | 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 Start Date: | 20 May 2019 | ||||||||||||
| Event End Date: | 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: | 24 Apr 2024 20:31 |
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