New dry friction model with load- and velocity-dependence and dynamic identification of multi-dof robots

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2011, Pages 1077-1084

  Hamon, P ^a,b   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; 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; LOW VELOCITIES; MULTI-DOF; ROBOTS WORKING; SERIAL ROBOTS; STRIBECK EFFECT; VELOCITY DEPENDENCE; VELOCITY-DEPENDENT; VISCOUS FRICTION;

DIGITAL STORAGE; GRAVITATION; IDENTIFICATION (CONTROL SYSTEMS); PARAMETER ESTIMATION; ROBOTICS; ROBOTS; TRIBOLOGY;

FRICTION;

EID: 84871684819     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2011.5980126     Document Type: Conference Paper

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