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Friction: experimental determination, modeling and compensation

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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