Friction Hysteresis Modeling and Force Control in a Constrained Single-link Arm-Reference-Cited by-同舟云学术

Friction Hysteresis Modeling and Force Control in a Constrained Single-link Arm

Published:2011-11-01 Issue:6 Volume:133 Page:
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Bazaei A.¹,Moallem M.²

Affiliation:

1. School of Electrical Engineering and Computer Science, University of Newcastle, NSW 2308, Australia e-mail:

2. Mechatronics Systems Engineering, School of Engineering Science, Simon Fraser University, Surrey, BC, V3T 0A3, Canada e-mail:

Abstract

In this paper, we study friction characteristics of a constrained planar single-link arm in applications, where control of the end-point interaction force is required. The objective is to improve performance of a force control system by developing an adequate friction model. It is shown that hub friction increases with the applied force with the end-point force exhibiting significant hysteresis behavior. A friction model is presented for capturing these phenomena and compared with the widely used LuGre friction model. Effectiveness of the proposed model for friction compensation is further examined on an experimental force control system testbed.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/doi/10.1115/1.4004580/5630414/061016_1.pdf

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