Dynamic friction model with thermal and load dependency
Dynamic friction model with thermal and load dependency: modeling, compensation, and external force estimation
The performance of 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 in this video. We show how the proposed model can be seamlessly integrated in standard dynamic friction models such as Lund Grenoble (LuGre) and Generalized-Maxwell-Slip (GMS). Also we show how a transmission system with high inherent friction like Harmonic Drive gear could behave under precise friction compensation considering the above mentioned effects. Additionally, the actuator can be used as a pure torque source (sensorless torque control loop) to realize, e.g. an impedance control.
Further details can be found in the following paper: "Dynamic friction model with thermal and load dependency: modeling, compensation, and external force estimation". Maged Iskandar and Sebastian Wolf, IEEE International Conference on Robotics and Automation (ICRA), 20-24 May, 2019, Montreal, Canada.
Dynamic friction model with thermal and load dependency
Dynamic friction model with thermal and load dependency
Dynamic friction model with thermal and load dependency: modeling, compensation, and external force estimation
The performance of 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 in this video. We show how the proposed model can be seamlessly integrated in standard dynamic friction models such as Lund Grenoble (LuGre) and Generalized-Maxwell-Slip (GMS). Also we show how a transmission system with high inherent friction like Harmonic Drive gear could behave under precise friction compensation considering the above mentioned effects. Additionally, the actuator can be used as a pure torque source (sensorless torque control loop) to realize, e.g. an impedance control.
Further details can be found in the following paper: "Dynamic friction model with thermal and load dependency: modeling, compensation, and external force estimation". Maged Iskandar and Sebastian Wolf, IEEE International Conference on Robotics and Automation (ICRA), 20-24 May, 2019, Montreal, Canada.
Credit: DLR (CC BY-NC-ND 3.0)
Duration:00:02:13