By Topic

Identification of generalized friction for an experimental planar two-link flexible manipulator using strong tracking filter

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

3 Author(s)
Bai, M. ; Robert Bosch GmbH, Stuttgart, Germany ; Zhou, D.H. ; Schwarz, H.

In this paper, we propose a systematic approach to identify the friction of an experimental planar two link flexible manipulator. The dynamic model of the flexible manipulator, which contains only the first flexible modes of each link and the model of actuators, has been linearized around a definite operating point. Then, a new concept, “generalized friction”, is proposed, and the linearized model is modified to include the generalized friction. A minimal order, linear, time-varying model is obtained. Later, a “strong tracking filter” (STF) is introduced to estimate the time-varying generalized friction at every operating point, based only on a rough model. Although the time-invariant linear model is obtained at a definite operating point, we have shown that it can describe accurately the manipulator's dynamics in the whole operating area with the aids of estimation of the time-varying generalized friction. Finally, experimental results are presented to demonstrate the effectiveness of the proposed approach

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:15 ,  Issue: 2 )