An elastoplastic friction compensator with improved static friction behavior

Masayoshi Iwatani, Ryo Kikuuwe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1091-1097
Number of pages7
ISBN (Electronic)9784907764500
DOIs
Publication statusPublished - Nov 18 2016
Event55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016 - Tsukuba, Japan
Duration: Sep 20 2016Sep 23 2016

Publication series

Name2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016

Other

Other55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
CountryJapan
CityTsukuba
Period9/20/169/23/16

Fingerprint

static friction
compensators
Compensator
Elasto-plastic
Friction
friction
output
Ball screws
screws
Linear actuators
robotics
Output
balls
actuators
time measurement
Robotics
Actuator
Timing
Ball
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All Science Journal Classification (ASJC) codes

  • Control and Optimization
  • Instrumentation
  • Control and Systems Engineering

Cite this

Iwatani, M., & Kikuuwe, R. (2016). An elastoplastic friction compensator with improved static friction behavior. In 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016 (pp. 1091-1097). [7749226] (2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SICE.2016.7749226

An elastoplastic friction compensator with improved static friction behavior. / Iwatani, Masayoshi; Kikuuwe, Ryo.

2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 1091-1097 7749226 (2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Iwatani, M & Kikuuwe, R 2016, An elastoplastic friction compensator with improved static friction behavior. in 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016., 7749226, 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016, Institute of Electrical and Electronics Engineers Inc., pp. 1091-1097, 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016, Tsukuba, Japan, 9/20/16. https://doi.org/10.1109/SICE.2016.7749226
Iwatani M, Kikuuwe R. An elastoplastic friction compensator with improved static friction behavior. In 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 1091-1097. 7749226. (2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016). https://doi.org/10.1109/SICE.2016.7749226
Iwatani, Masayoshi ; Kikuuwe, Ryo. / An elastoplastic friction compensator with improved static friction behavior. 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 1091-1097 (2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016).
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