Modelling of Joint Friction in Robotic Manipulators with Gear Transmissions

2007 ◽  
pp. 221-243 ◽  
Author(s):  
J. B. Jonker ◽  
R. R. Waiboer ◽  
R. G. K. M. Aarts
Keyword(s):  
Robotic Manipulators ◽  
Joint Friction

Fuzzy Control of Robotic Manipulators in the Presence of Joint Friction and Load Changes

1993 ◽  
Author(s):  
Li Wei ◽  
Zhang Bo
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Control ◽  
Membership Function ◽  
Robot Control ◽  
Robotic Manipulators ◽  
Linguistic Variables ◽  
Control Performance ◽  
Joint Friction ◽  
Control Scheme

Abstract In this paper a fuzzy robot control scheme is presented which consists of a fuzzy logic (FL) controller and a conventional derivative (D) controller. The main purpose of the paper is to study the effectiveness of membership function forms of linguistic variables on achieving desired control performance. Simulations of a two-link manipulator demonstrate that the control performance in the presence of joint friction and load changes can be improved by the scheme. The proposed scheme is quite simple in structure and can be easily implemented.

DEVELOPMENT OF A NOVEL PERPENDICULARITY CORRECTION METHOD FOR ROBOTIC MANIPULATORS APPLIED TO AEROSPACE DOMAIN

2017 ◽  
Author(s):  
Thiago Neves Cunha ◽  
Guilherme Boulhosa Rodamilans ◽  
Emilia Villani ◽  
Luis Gonzaga Trabasso ◽  
Wesley Oliveira
Keyword(s):  
Robotic Manipulators ◽  
Correction Method

scholarly journals Analysis of Friction in Total Knee Prosthesis during a Standard Gait Cycle

Lubricants ◽  
2021 ◽  
Vol 9 (4) ◽  
pp. 36
Author(s):  
Matúš Ranuša ◽  
Markus A. Wimmer ◽  
Spencer Fullam ◽  
Martin Vrbka ◽  
Ivan Křupka
Keyword(s):  
Total Knee Replacement ◽  
Knee Replacement ◽  
Computational Models ◽  
Gait Cycle ◽  
Knee Prosthesis ◽  
Shear Stresses ◽  
Cobalt Chromium ◽  
Joint Friction ◽  
The Coefficient Of Friction ◽  
Total Knee

Total knee arthroplasty is on the rise worldwide. Despite its success, revision surgeries are also increasing. According to the American Joint Replacement Registry 2020, 3.3% of revision surgeries are due to wear, and 24.2% are due to mechanical loosening. The combination of shear stresses and wear particles occurring at the bone/implant interface can lead to local osteolysis. Although the shear stresses are partially driven by joint friction, relatively little is known about the evolution of the coefficient of friction (CoF) during a gait cycle in total knee replacement. Here we describe the CoF during a gait cycle and investigate its association with kinematics (slide–roll-ratio), applied load, and relative velocity. The artificial knee was simulated by cobalt–chromium condyle on a flat ultra-high-molecular-weight polyethylene (UHMWPE) tibial plateau, lubricated by either water or proteinaceous solution. We found that the CoF is not a constant but fluctuates between the values close to 0 and 0.15. Cross-correlation suggested that this is primarily an effect of the slide–roll ratio and the contact pressure. There was no difference in the CoF between water and proteinaceous solution. Knowledge about the CoF behavior during a gait cycle will help to increase the accuracy of future computational models of total knee replacement.

scholarly journals Adaptive Artificial Potential Fields with Orientation Control Applied to Robotic Manipulators

2020 ◽  
Vol 53 (2) ◽  
pp. 9924-9929
Author(s):  
Caio Cristiano Barros Viturino ◽  
Ubiratan de Melo Pinto Junior ◽  
André Gustavo Scolari Conceição ◽  
Leizer Schnitman
Keyword(s):  
Robotic Manipulators ◽  
Potential Fields ◽  
Orientation Control ◽  
Artificial Potential Fields

Event-triggered-based adaptive command-filtered asymptotic tracking control for flexible robotic manipulators

2021 ◽  
Author(s):  
Tingting Cheng ◽  
Ben Niu ◽  
Guangju Zhang ◽  
Zhenhua Wang ◽  
Peiyong Duan
Keyword(s):  
Tracking Control ◽  
Robotic Manipulators ◽  
Asymptotic Tracking ◽  
Event Triggered
Sign in / Sign up

Export Citation Format

Share Document