TY - GEN
T1 - An external force estimator using elastoplastic friction model with improved static friction behavior
AU - Iwatani, Masayoshi
AU - Kikuuwe, Ryo
PY - 2017/1/31
Y1 - 2017/1/31
N2 - This paper proposes an external force estimator including an elastoplastic friction model with improved static friction behavior. Hayward and Armstrong's elastoplastic friction model is one of the simplest model representing friction phenomena with compliance. This model however produces non-zero output force in the static friction state, which results in steady-state error in external force estimation. This paper improves the estimation accuracy by applying a friction model with the output force being reduced in the static friction state. The proposed estimator was validated through experiments with an actuator system comprised of a ball screw and a timing belt. The experimental result shows that the estimation accuracy is improved by the proposed estimator.
AB - This paper proposes an external force estimator including an elastoplastic friction model with improved static friction behavior. Hayward and Armstrong's elastoplastic friction model is one of the simplest model representing friction phenomena with compliance. This model however produces non-zero output force in the static friction state, which results in steady-state error in external force estimation. This paper improves the estimation accuracy by applying a friction model with the output force being reduced in the static friction state. The proposed estimator was validated through experiments with an actuator system comprised of a ball screw and a timing belt. The experimental result shows that the estimation accuracy is improved by the proposed estimator.
UR - http://www.scopus.com/inward/record.url?scp=85015156116&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85015156116&partnerID=8YFLogxK
U2 - 10.1109/ICARCV.2016.7838842
DO - 10.1109/ICARCV.2016.7838842
M3 - Conference contribution
AN - SCOPUS:85015156116
T3 - 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
BT - 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
Y2 - 13 November 2016 through 15 November 2016
ER -