Friction Identification in a Pneumatic Gripper

2020 ◽  
Author(s):  
Rocco A. Romeo ◽  
Marco Maggiali ◽  
Daniele Pucci ◽  
Luca Fiorio
Keyword(s):  
Friction Identification

Friction Identification and Compensation in Robotic Manipulators

2007 ◽  
Vol 56 (6) ◽  
pp. 2346-2353 ◽  
Author(s):  
Mehrdad R. Kermani ◽  
Rajnikant V. Patel ◽  
Mehrdad Moallem
Keyword(s):  
Robotic Manipulators ◽  
Friction Identification

Friction Identification Using Evolution Strategies and Robust Control of Positioning Tables

1999 ◽  
Vol 121 (4) ◽  
pp. 619-624 ◽  
Author(s):  
Seon-Woo Lee ◽  
Jong-Hwan Kim
Keyword(s):  
Static Friction ◽  
Velocity Model ◽  
Friction Model ◽  
Evolution Strategies ◽  
Linear Feedback ◽  
Control Input ◽  
Identification Technique ◽  
Friction Identification ◽  
The Stability ◽  
And Control

This paper presents an identification technique using evolution strategies (ES) for an integrated friction model of a positioning table. The friction model is based on Karnopp’s friction-velocity model with the rising static friction and spring-like property. Using the (μ + λ)-ES, the system parameters are identified with the experimental input and output data. The proposed control law consists of a conventional linear feedback control input, a friction compensation term and a sliding control input. The proposed control scheme can guarantee the stability of the overall system, even in the presence of the external disturbances and the modeling error between the real friction and the identified model. Experiments on an positioning table, called X-Y table, demonstrate the effectiveness of the proposed identification and control schemes.

A practical method for friction identification in hydraulic actuators

Mechatronics ◽  
2011 ◽  
Vol 21 (1) ◽  
pp. 350-356 ◽  
Author(s):  
Lőrinc Márton ◽  
Szabolcs Fodor ◽  
Nariman Sepehri
Keyword(s):  
Practical Method ◽  
Hydraulic Actuators ◽  
Friction Identification

FRICTION IDENTIFICATION BASED UPON THE LUGRE AND MAXWELL SLIP MODELS

2005 ◽  
Vol 38 (1) ◽  
pp. 548-553 ◽  
Author(s):  
Demosthenis D. Rizos ◽  
Spilios D. Fassois
Keyword(s):  
Friction Identification
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