Identification of Coulomb and viscous friction in robot drives: An experimental comparison of methods

Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science

Volumn 210, Issue 6, 1996, Pages 529-540

  Elhami, M R ^a   Brookfield, D J ^a  

^a UNIVERSITY OF LIVERPOOL   (United Kingdom)

Author keywords

Frictional identification; Frictional models; Identification methods; Robot control; Robotics

Indexed keywords

ELECTRIC CURRENTS; FRICTION; HARMONIC ANALYSIS; LEAST SQUARES APPROXIMATIONS; MATHEMATICAL MODELS; ROBOTS; SERVOMOTORS; TORQUE; VELOCITY;

ARMATURE CURRENT; ARMATURE VOLTAGE; COULOMB FRICTION; FRICTIONAL IDENTIFICATION; ROLLING FRICTION; SLIDING FRICTION; VISCOUS FRICTION;

ELECTRIC DRIVES;

EID: 0030406730     PISSN: 09544062     EISSN: None     Source Type: Journal    
DOI: 10.1243/PIME_PROC_1996_210_228_02     Document Type: Article

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