低速摩擦模型:特性和应用

Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI:10.1109/ROMOCO.2004.240971

L. Márton

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引用次数: 2

摘要

本文提出了一种描述低速摩擦现象的新型摩擦模型。详细讨论了所引入模型的特性。结果表明，使用标准参数识别技术可以很容易地进行模型参数的离线识别，并且所提出的模型可以预测由于低速摩擦现象而发生的极限环现象。该模型参数呈线性关系，可用于定位系统和机械臂的自适应摩擦补偿算法。仿真结果说明了所提模型的适用性。

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Friction model for low velocities: proprieties and applications

The paper presents a novel friction model to describe the friction phenomena at low velocities. The proprieties of the introduced model are discussed in detail. It was shown that the off line identification of the model parameters can easily be performed using standard parameter identification techniques and the proposed model predicts the limit cycle phenomena that occurs due to friction phenomena at low velocities. The model is linear in parameters so it can easily be applied in adaptive friction compensation algorithms for positioning systems and robotic manipulators. Simulation results are provided to illustrate the applicability of the proposed model.

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Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)

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