By Topic

Friction: experimental determination, modeling and compensation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Armstrong, B. ; Dept. of Comput. Sci., Stanford Univ., CA, USA

The friction behavior of a brush-type-DC-servomotor-driven mechanism with gearing is explored. The standard kinetic plus viscous friction model is found to describe the dominant friction behavior. In addition, a dependence of friction on position is identified and negative velocity dependence is observed at low velocities. A friction model is developed and used to precompute motion torques. The application of a precomputed torques in an open-loop fashion results in motion accurate to within a few percent

Published in:

Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on

Date of Conference:

24-29 Apr 1988