Fine force control without force sensor based on reaction force estimation system considering static friction and kinetic friction

2016 ◽  
Author(s):  
Hiroshi Nakamura ◽  
Kiyoshi Ohishi ◽  
Yuki Yokokura ◽  
Toshimasa Miyazaki ◽  
Akifumi Tsukamoto
Keyword(s):  
Force Control ◽  
Reaction Force ◽  
Static Friction ◽  
Force Sensor ◽  
Kinetic Friction ◽  
Force Estimation ◽  
Estimation System

Hybrid Position and Force Control Without Force Sensor

1996 ◽  
Vol 8 (3) ◽  
pp. 226-234
Author(s):  
Kiyoshi Ohishi ◽  
◽  
Masaru Miyazaki ◽  
Masahiro Fujita ◽  
Keyword(s):  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Hybrid Control ◽  
Robot Manipulator ◽  
Reaction Force ◽  
Force Sensor ◽  
Force Estimation ◽  
Estimation System ◽  
Dynamics Calculation ◽  
Torque Observer

Generally, hybrid control is realized by sensor signal feedback of position and force. However, some robot manipulators do not have a force sensor due to the environment. Moreover, a precise force sensor is very expensive. In order to overcome these problems, we propose the estimation system of reaction force without using a force sensor. This system consists of the torque observer and the inverse dynamics calculation. Using both this force estimation system and <I>H</I>∞ acceleration controller which is based on <I>H</I>∞ control theory, it takes into account the frequency characteristics of both sensor noise effect and disturbance rejection. The experimental results in this paper illustrate the fine hybrid control of the three tested degrees-of-freedom DD robot manipulator without force sensor.

723 Development of wearable ground reaction force estimation system

2008 ◽  
Vol 2008.46 (0) ◽  
pp. 277-278
Author(s):  
Takashi OCHI ◽  
Liu TAO ◽  
Yoshio INOUE ◽  
Kyoko SHIBATA
Keyword(s):  
Ground Reaction Force ◽  
Reaction Force ◽  
Force Estimation ◽  
Estimation System

Numerical Investigation of the Influence of Friction Coefficient on Brake Groan

2010 ◽  
Vol 44-47 ◽  
pp. 1923-1927 ◽  
Author(s):  
Xian Jie Meng
Keyword(s):  
Nonlinear Dynamics ◽  
Friction Coefficient ◽  
Degrees Of Freedom ◽  
Equilibrium Points ◽  
Static Friction ◽  
Kinetic Friction ◽  
Dynamics Model ◽  
Excited Vibration ◽  
Nonlinear Dynamics Model ◽  
The Stability

A two degrees of freedom nonlinear dynamics model of self-excited vibration induced by dry-friction of brake disk and pads is built firstly, the stability of vibration system at the equilibrium points is analyzed using the nonlinear dynamics theory. Finally the numerical method is taken to study the impacts of friction coefficient on brake groan. The calculation result shows that with the increase of kinetic friction coefficient /or the decrease of difference value between static friction coefficient and kinetic friction coefficient can prevent or restrain self-excited vibration from happening.

On the Static-Kinetic Friction Transition in Dry Contact of Rough Surfaces

2011 ◽  
Author(s):  
K. Farhang ◽  
D. Segalman ◽  
M. Starr
Keyword(s):  
Large Scale ◽  
Rough Surfaces ◽  
Tangential Force ◽  
Static Friction ◽  
Partial Slip ◽  
Small Scale ◽  
Asperity Contact ◽  
Kinetic Friction ◽  
Tangential Load ◽  
Asperity Contacts

This paper shows that the Mindlin problem involving two spheres in contact under the action of oscillating tangential force can lead to the account of static-kinetic friction transition. In Mindlin’s problem two spheres experience partial slip as a result of application of oscillating tangential load. When the problem is extended to multi-sphere contact, i.e. two rough surfaces, the application of tangential oscillating load results in partial slip for some asperity contacts while others experience full slip. Increase in the amplitude of the oscillating tangential force results in more contacts experiencing full slip, thereby decreasing the number of contacts in parial slip. Constitutive relation proposed by Mindlin at small scale, governing asperity interaction, is used to obtain the large scale slip function through a statistical summation of asperity scale events. The slip function establishes the fraction of asperity contact in full slip. The complement of the slip parameter is a fraction of asperities in partial slip. Through slip function it is shown that it is possible to define a slip condition for the entire surface. The derivation of the slip function allows the account of transition between static friction and kinetic friction.

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