| contributor author | Sin Aung, Myo Thant | |
| contributor author | Kikuuwe, Ryo | |
| contributor author | Yamamoto, Motoji | |
| date accessioned | 2017-05-09T01:16:10Z | |
| date available | 2017-05-09T01:16:10Z | |
| date issued | 2015 | |
| identifier issn | 0022-0434 | |
| identifier other | ds_137_01_011007.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/157432 | |
| description abstract | Most of existing friction compensation techniques are based on friction models that uses the velocity as its input. These methods are difficult to apply to inexpensive encoderbased actuator systems that do not exhibit sufficiently large presliding displacement. This paper presents a new method of friction compensation that can be applied to geared actuators with high presliding stiffness. The compensator consists of three components that compensate: (a) static friction, (b) ratedependent kinetic friction, and (c) dynamic friction involving presliding viscoelasticity. The first component employs ditherlike torque command, and the other two are based on friction models involving precalibrated parameters. The proposed method is validated through experiments employing a harmonic drive transmission. In particular, it is suggested that the ditherlike static friction compensation and the viscosity in the presliding model significantly improve the performance of the compensator. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Friction Compensation of Geared Actuators With High Presliding Stiffness | |
| type | Journal Paper | |
| journal volume | 137 | |
| journal issue | 1 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.4027503 | |
| journal fristpage | 11007 | |
| journal lastpage | 11007 | |
| identifier eissn | 1528-9028 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;2015:;volume( 137 ):;issue: 001 | |
| contenttype | Fulltext | |
