An integrated friction model structure with improved presliding behavior for accurate friction compensation

DOI10.1109/9.847103zbMath0984.70008OpenAlexW2160240392MaRDI QIDQ4507133

Chris G. Ganseman, Tutuko Prajogo, Jan Swevers, F. Al-Bender

Publication date: 17 October 2000

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://lirias.kuleuven.be/handle/123456789/161362

zbMATH Keywords

motion control sliding mechatronics identification of parameters Stribeck effect hysteresis function stick-slip behavior nonlocal memory dynamical friction model structure KUKA IR 361 robot presliding

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Contact in solid mechanics (74M15) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60) Problems involving a system of particles with friction (70F40)

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