Grey-box modeling of friction: An experimental case-study

Abstract

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Master-Slave Synchronization of Robot Manipulators: Experimental Results

“…The friction term f (x 2 , θ) is modelled by the same model as in Nijmeijer and Rodriguez-Angeles (2003), which is a special case of the friction model in Hensen et al (2000). The friction in joint j is f j and it is only dependent on the velocity x 2j of joint j.…”

Modeling and identification of an RRR-robot

“…Although straightforward and reliable, this procedure is not time efficient. In order to make the estimation quicker, we prefer a simultaneous identification of all static friction parameters using an augmented state EKF [6,12]. Such procedure is successfully implemented for estimation of the third joint's static friction parameters.…”

“…where U is definedhy (6). uf represents friction effects and U" total excitations that should be applied.…”

“…The EKF algorithm is a recursive formulation that updates the estimates at discrete-time instants, i.e., when the outputs of the system are measured. The algorithm is given in [12], and has been already used for friction identification in [6]. Identification of the third joint's friction parameters is done with the first two joints standing still in some preferred position.…”

“…To compensate for the friction, its dynamics can he modeled and estimated [4][5][6][7] and the resulting model is used for on-line compensation. There exists static and dynamic friction models [4].…”