Some Improvements in Elastoplastic Friction Compensator
For robotic joints with compliant transmissions, Mahvash and Okamura have proposed a friction compensator based on an elastoplastic friction model. One drawback of the compensator is that the compensator continues producing non-zero output force in the static friction state, which results in the deg...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Taylor & Francis Group
2017-05-01
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| Series: | SICE Journal of Control, Measurement, and System Integration |
| Subjects: | |
| Online Access: | http://dx.doi.org/10.9746/jcmsi.10.141 |
| _version_ | 1797661071665790976 |
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| author | Masayoshi Iwatani Ryo Kikuuwe |
| author_facet | Masayoshi Iwatani Ryo Kikuuwe |
| author_sort | Masayoshi Iwatani |
| collection | DOAJ |
| description | For robotic joints with compliant transmissions, Mahvash and Okamura have proposed a friction compensator based on an elastoplastic friction model. One drawback of the compensator is that the compensator continues producing non-zero output force in the static friction state, which results in the degraded backdrivability of joints. In order to remedy this problem, this paper proposes an elastoplastic friction compensator with improved static friction behavior, which is realized by an additional term that makes the output force exponentially decay in the static friction state. This paper also proposes an additional algorithm that adjust the decay rate of the output force in real time. The proposed methods are experimentally tested with a linear actuator with a timing belt and a six-axis industrial manipulator. |
| first_indexed | 2024-03-11T18:39:00Z |
| format | Article |
| id | doaj.art-9f6105af9a894f73a80e4554670f05a7 |
| institution | Directory Open Access Journal |
| issn | 1884-9970 |
| language | English |
| last_indexed | 2024-03-11T18:39:00Z |
| publishDate | 2017-05-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | SICE Journal of Control, Measurement, and System Integration |
| spelling | doaj.art-9f6105af9a894f73a80e4554670f05a72023-10-12T13:43:54ZengTaylor & Francis GroupSICE Journal of Control, Measurement, and System Integration1884-99702017-05-0110314114810.9746/jcmsi.10.14112103122Some Improvements in Elastoplastic Friction CompensatorMasayoshi Iwatani0Ryo Kikuuwe1Department of Mechanical Engineering, Kyushu UniversityDepartment of Mechanical Engineering, Kyushu UniversityFor robotic joints with compliant transmissions, Mahvash and Okamura have proposed a friction compensator based on an elastoplastic friction model. One drawback of the compensator is that the compensator continues producing non-zero output force in the static friction state, which results in the degraded backdrivability of joints. In order to remedy this problem, this paper proposes an elastoplastic friction compensator with improved static friction behavior, which is realized by an additional term that makes the output force exponentially decay in the static friction state. This paper also proposes an additional algorithm that adjust the decay rate of the output force in real time. The proposed methods are experimentally tested with a linear actuator with a timing belt and a six-axis industrial manipulator.http://dx.doi.org/10.9746/jcmsi.10.141friction compensationstatic frictiondither |
| spellingShingle | Masayoshi Iwatani Ryo Kikuuwe Some Improvements in Elastoplastic Friction Compensator SICE Journal of Control, Measurement, and System Integration friction compensation static friction dither |
| title | Some Improvements in Elastoplastic Friction Compensator |
| title_full | Some Improvements in Elastoplastic Friction Compensator |
| title_fullStr | Some Improvements in Elastoplastic Friction Compensator |
| title_full_unstemmed | Some Improvements in Elastoplastic Friction Compensator |
| title_short | Some Improvements in Elastoplastic Friction Compensator |
| title_sort | some improvements in elastoplastic friction compensator |
| topic | friction compensation static friction dither |
| url | http://dx.doi.org/10.9746/jcmsi.10.141 |
| work_keys_str_mv | AT masayoshiiwatani someimprovementsinelastoplasticfrictioncompensator AT ryokikuuwe someimprovementsinelastoplasticfrictioncompensator |