TY - GEN
T1 - An elastoplastic friction compensator with improved static friction behavior
AU - Iwatani, Masayoshi
AU - Kikuuwe, Ryo
PY - 2016/11/18
Y1 - 2016/11/18
N2 - Mahvash and Okamura's elastoplastic friction compensator is one of successful friction compensators for robotic joints with compliant transmissions. A limitation of the scheme is that, in the static friction state, the compensator continues commanding non-zero output force, which hampers the system's reaction to external forces. This paper presents an improved version of the elastoplastic friction compensator with an additional term, which makes the output force decay exponentially in the static friction state. The proposed method was validated using a linear actuator system with a ball screw and a timing belt. The experimental results show that the proposed method reduces external force required to move the device.
AB - Mahvash and Okamura's elastoplastic friction compensator is one of successful friction compensators for robotic joints with compliant transmissions. A limitation of the scheme is that, in the static friction state, the compensator continues commanding non-zero output force, which hampers the system's reaction to external forces. This paper presents an improved version of the elastoplastic friction compensator with an additional term, which makes the output force decay exponentially in the static friction state. The proposed method was validated using a linear actuator system with a ball screw and a timing belt. The experimental results show that the proposed method reduces external force required to move the device.
UR - http://www.scopus.com/inward/record.url?scp=85008251845&partnerID=8YFLogxK
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U2 - 10.1109/SICE.2016.7749226
DO - 10.1109/SICE.2016.7749226
M3 - Conference contribution
AN - SCOPUS:85008251845
T3 - 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
SP - 1091
EP - 1097
BT - 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
Y2 - 20 September 2016 through 23 September 2016
ER -