Dynamic identification of robots with a dry friction model depending on load and velocity

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Volumn , Issue , 2010, Pages 6187-6193

  Hamon, P ^a   Gautier, M ^b   Garrec, P ^a  

^a INSTITUT DE RADIOPROTECTION ET DE SÛRETÉ NUCLÉAIRE   (France)

^b UNIVERSITÉ DE NANTES   (France)

Author keywords

[No Author keywords available]

Indexed keywords

COULOMB LAW; DEGREES OF FREEDOM; DRY FRICTION; DRY SLIDING FRICTION; DYNAMIC IDENTIFICATION; EXPERIMENTAL VALIDATIONS; EXTERNAL FORCE; FRICTION MODELS; FRICTION PARAMETERS; GLOBAL LEAST SQUARES; GRAVITY FORCES; IDENTIFICATION PROCEDURE; INVERSE DYNAMICS; JOINT TRANSMISSIONS; LINEAR FUNCTIONS; ROBOTS WORKING; SERIAL ROBOTS; VELOCITY-DEPENDENT; VISCOUS FRICTION;

FRICTION; SPEED REDUCERS; TRIBOLOGY; WORM GEARS;

INTELLIGENT ROBOTS;

EID: 78651498213     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2010.5649189     Document Type: Conference Paper

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