Webbläsaren som du använder stöds inte av denna webbplats. Alla versioner av Internet Explorer stöds inte längre, av oss eller Microsoft (läs mer här: * https://www.microsoft.com/en-us/microsoft-365/windows/end-of-ie-support).

Var god och använd en modern webbläsare för att ta del av denna webbplats, som t.ex. nyaste versioner av Edge, Chrome, Firefox eller Safari osv.

Modeling and Identification of Position and Temperature Dependent Friction Phenomena without Temperature Sensing

In English

Författare

Redaktör

  • Alois Knoll

Summary, in English

This paper investigates both positional dependence in systems with friction and the influence an increase in temperature has on the friction behavior. The positional dependence is modeled with a Radial Basis Function network and the temperature dependence is modeled as a first order system with the power loss due to friction as input, eliminating the need for temperature sensing. The proposed methods are evaluated in both simulations and experiments on two industrial robots with strong positional and temperature friction dependence.

Publiceringsår

2015

Språk

Engelska

Sidor

3045-3051

Publikation/Tidskrift/Serie

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Dokumenttyp

Konferensbidrag

Förlag

IEEE - Institute of Electrical and Electronics Engineers Inc.

Ämne

  • Robotics

Nyckelord

  • Friction
  • System Identification
  • Radial Basis Function Network
  • Temperature Modeling

Conference name

IEEE/RSJ International Conference on Intelligent Robots and Systems , 2015

Conference date

2015-09-28 - 2015-10-02

Conference place

Hamburg, Germany

Status

Published

Projekt

  • Flexifab
  • LU Robotics Laboratory