An external force estimator using elastoplastic friction model with improved static friction behavior

Masayoshi Iwatani, Ryo Kikuuwe

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

3 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781509035496
DOIs
Publication statusPublished - Jan 31 2017
Event14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016 - Phuket, Thailand
Duration: Nov 13 2016Nov 15 2016

Publication series

Name2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016

Other

Other14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
CountryThailand
CityPhuket
Period11/13/1611/15/16

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Optimization
  • Instrumentation
  • Computer Vision and Pattern Recognition

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  • Cite this

    Iwatani, M., & Kikuuwe, R. (2017). An external force estimator using elastoplastic friction model with improved static friction behavior. In 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016 [7838842] (2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARCV.2016.7838842