TY - GEN
T1 - Experimental friction identification in robot drives
AU - Baur, Joerg
AU - Dendorfer, Sebastian
AU - Pfaff, Julian
AU - Schutz, Christoph
AU - Buschmann, Thomas
AU - Ulbrich, Heinz
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - The drive mechanism of many robot joints are composed of an electrical actuator and a gear Transmission. Besides actuator dynamics and gear elasticity, friction effects are of particular importance for accurate dynamic modeling. This paper presents The design and development of a modular Testbed for experimental friction identification in modular robot drives. We have used This Testbed To investigate modules That were developed at our institute for The humanoid robot Lola and an agricultural manipulator. We discovered That a friction law, similar To a law proposed in The literature, can be very accurately fitted To our measurements.
AB - The drive mechanism of many robot joints are composed of an electrical actuator and a gear Transmission. Besides actuator dynamics and gear elasticity, friction effects are of particular importance for accurate dynamic modeling. This paper presents The design and development of a modular Testbed for experimental friction identification in modular robot drives. We have used This Testbed To investigate modules That were developed at our institute for The humanoid robot Lola and an agricultural manipulator. We discovered That a friction law, similar To a law proposed in The literature, can be very accurately fitted To our measurements.
UR - http://www.scopus.com/inward/record.url?scp=84929191161&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907744
DO - 10.1109/ICRA.2014.6907744
M3 - Conference contribution
AN - SCOPUS:84929191161
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 6006
EP - 6011
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -