The Impact of Friction on the Dynamics of Parallel Robotic Manipulators

authored by

H. Abdellatif, Bodo Heimann, Martin Grotjahn

Abstract

In this paper an overview on joint-friction for parallel kinematic manipulators (PKM) is proposed. An efficient modeling approach is given, where dissipation in all passive and active joints are uniformly formulated and transformed in the actuation space in parameter-linear form. Furthermore, it is shown, how friction characteristics can be identified independently from any other dynamic influences. Two sections are considered to the practical issues of friction in terms of feedforward and time-optimal control.

Organisation(s)

Institute of Mechatronic Systems

External Organisation(s)

IAV GmbH

Type

Contribution to book/anthology

Pages

73-80

No. of pages

8

Publication date

2006

Publication status

Published

Peer reviewed

Yes

ASJC Scopus subject areas

Modelling and Simulation, Mechanics of Materials, Mechanical Engineering, Computer Science Applications

Electronic version(s)

https://doi.org/10.1007/3-211-38927-X_11 (Access: Unknown)