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Journal ArticleDOI

Sequential identification of Coulomb and viscous friction in robot drives

15 Apr 1997-Automatica (Pergamon)-Vol. 33, Iss: 3, pp 393-401
TL;DR: The practical application of the nonlinear filtering approach of Detchmendy and Sridhar, on both computer simulation and experimental data, in frictional identification confirms the feasibility of the proposed estimation approach and justifies the introduction of asymmetry.
About: This article is published in Automatica.The article was published on 1997-04-15. It has received 32 citations till now. The article focuses on the topics: Coulomb.
Citations
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Journal ArticleDOI
TL;DR: A tracking controller is developed in this paper for a general Euler-Lagrange system that contains a new continuously differentiable friction model with uncertain nonlinear parameterizable terms, and a recently developed integral feedback compensation strategy is used to identify the friction effects online.
Abstract: Modeling and compensation for friction effects has been a topic of considerable mainstream interest in motion control research. This interest is spawned from the fact that modeling nonlinear friction effects is a theoretically challenging problem, and compensating for the effects of friction in a controller has practical ramifications. If the friction effects in the system can be accurately modeled, there is an improved potential to design controllers that can cancel the effects; whereas, excessive steady-state tracking errors, oscillations, and limit cycles can result from controllers that do not accurately compensate for friction. A tracking controller is developed in this paper for a general Euler-Lagrange system that contains a new continuously differentiable friction model with uncertain nonlinear parameterizable terms. To achieve the semi-global asymptotic tracking result, a recently developed integral feedback compensation strategy is used to identify the friction effects online, assuming exact model knowledge of the remaining dynamics. A Lyapunov-based stability analysis is provided to conclude the tracking and friction identification results. Experimental results illustrate the tracking and friction identification performance of the developed controller.

256 citations


Cites background from "Sequential identification of Coulom..."

  • ...See [1], [3], [9], [11]-[13], [16], [24], and [27] for a survey of friction modeling and control results....

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Journal ArticleDOI
TL;DR: The modified identification algorithm does not suffer from the problem of nonlinear distortions in the signal shape and is able to determine the nonlinear friction such that an accurate servo system model can be derived.
Abstract: Mechanical devices usually come with undesirable nonlinearities, such as friction, backlashes, and saturations. Under the assumption of linear systems, the commonly seen identification schemes utilize sinusoidal excitation signals for parameter identification. However, the data needed for identification are unavoidably distorted by the aforementioned nonlinearities and the identification result may not be satisfactory. In the paper, binary test signals are used to perform identification, thus simplifying the behavior of friction. An identification method based on the difference of binary multifrequency excitation signals is proposed. The modified identification algorithm does not suffer from the problem of nonlinear distortions in the signal shape and is able to determine the nonlinear friction such that an accurate servo system model can be derived. A high-precision ball-screw table with asymmetric friction is identified as a test plant for this approach. The results prove that the method can be used very successfully.

68 citations


Cites background from "Sequential identification of Coulom..."

  • ...Studies on system friction have mostly focused on its behaviors, such as static friction, dynamic friction, the Stribeck phenomena, and friction memories [4]‐[ 7 ]....

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  • ...Its frequency components included the prime-number (less than 30) multiples of the fundamental frequency , i.e., [3, 5, 7 , 11, 13, 17, 19, 23, 29] , with Hz. Hence, the frequency range was from 1.465 Hz to 14.16 Hz, which was sufficient for our example with a bandwidth of 10 rad/s, i.e., 1.59 Hz....

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Journal ArticleDOI
TL;DR: This paper provides a detailed analysis of the practical stabilizability of systems in terms of the size of hypercubes bounding the initial conditions, the state transient, and the steady-state evolution and an explicit construction of a practically stabilizing controller for the quantized I/O case.
Abstract: This paper is concerned with the stabilization of discrete-time linear systems with quantization of the input and output spaces, i.e., when available values of inputs and outputs are discrete. Unlike most of the existing literature, we assume that how the input and output spaces are quantized is a datum of the problem, rather than a degree of freedom in design. Our focus is hence on the existence and synthesis of symbolic feedback controllers, mapping output words into the input alphabet, to steer a quantized I/O system to within small invariant neighborhoods of the equilibrium starting from large attraction basins. We provide a detailed analysis of the practical stabilizability of systems in terms of the size of hypercubes bounding the initial conditions, the state transient, and the steady-state evolution. We also provide an explicit construction of a practically stabilizing controller for the quantized I/O case.

63 citations

Proceedings ArticleDOI
08 Jun 2005
TL;DR: In this article, a tracking controller is developed for a general Euler-Lagrange system that contains a new continuously differentiable friction model with uncertain nonlinear parameterizable terms, and a recently developed integral feedback compensation strategy is used to identify the friction effects on-line.
Abstract: Modeling and compensation for friction effects has been a topic of considerable mainstream interest in motion control research. This interest is spawned from the fact that modeling nonlinear friction effects is a theoretically challenging problem, and compensating for the effects of friction in a controller has practical ramifications. If the friction effects in the system can be accurately modeled, there is an improved potential to design controllers that can cancel the effects; whereas, excessive steady-state tracking errors, oscillations, and limit cycles can result from controllers that do not accurately compensate for friction. A tracking controller is developed in this paper for a general Euler-Lagrange system that contains a new continuously differentiable friction model with uncertain nonlinear parameterizable terms. To achieve the semi-global asymptotic tracking result, a recently developed integral feedback compensation strategy is used to identify the friction effects on-line, assuming exact model knowledge of the remaining dynamics. A Lyapunov-based stability analysis is provided to conclude the tracking and friction identification results. On-going efforts are being directed at the development of an experimental testbed to illustrate the tracking and friction identification performance of the developed controller.

37 citations


Cites background from "Sequential identification of Coulom..."

  • ...See [1], [3], [9], [11]-[13], [16], [24], and [27] for a survey of friction modeling and control results....

    [...]

Journal ArticleDOI
TL;DR: A generic framework for the enhancement of advanced physics-based models with degradation curves is introduced by introducing a generic framework in a case study coming from the white goods industry, where it is investigated whether the robot will experience some failure within the next 18 months.
Abstract: Predictive maintenance has been proposed to maximize the overall plant availability of modern manufacturing systems. To this end, research has been conducted mainly on data-driven prognostic techniques for machinery equipment individual components. However, the lack of historical data together with the intricate design of industrial machines, e.g. robots, stimulate the use of advanced methods exploiting simulation capabilities. This paper aims to address this challenge by introducing a generic framework for the enhancement of advanced physics-based models with degradation curves. The creation of a robot's simulation model and its enrichment with data from the degradation curves of the robot's components is presented. Following, the extraction of information from degradation curves during the simulation of the robot's dynamic behaviour is addressed. The Digital Twin concept is employed to monitor the health status of the robot and ensure the convergence of the simulated to the actual robot behaviour. The output of the simulation can enable to estimate the future behaviour of the robot and make predictions for the quality of the products to be produced, as well as to estimate the robot's Remaining Useful Life. The proposed approach is applied in a case study coming from the white goods industry, where it is investigated whether the robot will experience some failure within the next 18 months.

35 citations

References
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Journal ArticleDOI
TL;DR: This survey is the first to bring to the attention of the controls community the important contributions from the tribology, lubrication and physics literatures, and provides a set of models and tools for friction compensation which will be of value to both research and application engineers.

2,658 citations

Journal Article
31 Jan 1991
TL;DR: A model for Friction Modeling and Compensation of Boundary Lubricants and the Impact of Static Friction Rising as a Function of Dwell Time is presented.
Abstract: 1. Introduction.- 2. Friction in Machines.- 2.1. The Contemporary Model of Machine Friction.- 2.2. Boundary Lubricants: a Domain of Many Choices.- 2.3. Relaxation Oscillations.- 2.4. Friction Modeling in the Controls Literature.- 2.5. An Integrated Friction Model.- 3. Experiment Design.- 4. Repeatability.- 5. Break-Away Experiments.- 5.1. Experimental Issues in Measuring Break-Away Torque.- 5.2. Building the Compensation Table.- 6. Friction as a Function of Velocity.- 6.1. Analysis of Variance in the Motion Friction Data.- 6.2. Friction at Low Velocities.- 6.3. Friction During Compliant Motion.- 6.4. The Dahl Effect.- 6.5. The Stribeck Effect.- 6.6. Temporal Effects in the Rise and Decay of Friction.- 6.7. Variance in Friction as Process Noise.- 7. Analysis of Stick-Slip.- 7.1. Dimensional Analysis.- 7.2. Perturbation Analysis.- 7.3. The Impact of Static Friction Rising as a Function of Dwell Time.- 7.4. Integral Control.- 8. Demonstrations of Friction Compensation.- 8.1. Open-Loop Motion of One Joint.- 8.2. Open-Loop Motion of Three Joints.- 8.3. Friction Compensated Force Control.- 9. Suggestions Toward Friction Modeling and Compensation.- 9.1. Suggestions on Experimental Technique.- 9.2. Suggestions on Control.- 9.3. Conclusion.- Appendix A: Small Studies.- A.1 Friction as a Function of Motor Angle.- A.2 Joint 2 Motor Alone and Joint 2 Link Alone.- A.3 Trials with Dither.- A.4 Friction as a Function of Load.- A.5 Creep.- A.6 Effects that were not Observed.

766 citations

Journal ArticleDOI
TL;DR: In this paper, the authors describe experiments in which digital processing of experimental records is used to determine viscous and Coulomb friction terms associated with a prototype electro-rheological (ER) damper.

309 citations

Journal ArticleDOI
07 Apr 1986
TL;DR: A control scheme where the nonlinear effects of friction are compensated adaptively and a combination of a fixed linear controller and an adaptive part which compensates for nonlinear friction effects is proposed.
Abstract: This paper proposes a control scheme where the nonlinear effects of friction are compensated adaptively. When the friction is compensated the motor drive can approximately be described by a constant coefficient linear model. Standard methods can be applied to design a regulator for such a model. This results in a control law which is a combination of a fixed linear controller and an adaptive part which compensates for nonlinear friction effects. Experiments have clearly shown that both static and dynamic friction have nonsymmetric characteristic. They depend on the direction of motion. This is considered in the design of the adaptive friction compensation. The proposed scheme has been implemented and tested on a laboratory prototype with good results. The control low is implemented on an IBM-PC. The paper describes the ideas, the algorithm and the experimental results. The results are relevant for many precision drives like those found in industrial robots.

279 citations


"Sequential identification of Coulom..." refers methods in this paper

  • ...…Papers typical of simpler models are those used by SKF bearings. in which the viscous frictional torque is proportional to the two-thirds root of the shaft velocity and Canudas de Wit et al. (1987). who suggested a model where the viscous torque is proportional to the square root of the velocity....

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  • ...Canudas de Wit et al. (1987), Johnson and Lorenz (1991)....

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Journal ArticleDOI
28 Sep 1991
TL;DR: In this article, the authors presented methodologies developed for experimentally determining accurate models for the nonlinear friction inherent in most mechanisms and presented alternative closed-loop controller strategies for decoupling the effect of friction in order to improve positioning accuracy.
Abstract: The authors present methodologies developed for experimentally determining accurate models for the nonlinear friction inherent in most mechanisms. The second objective is to present alternative closed-loop controller strategies for decoupling the effect of friction in order to improve positioning accuracy. The identification methodology is novel in the manner in which it extracts the nonlinear friction properties from the closed-loop errors via an iterative signal processing technique. The present work is based on both theoretical modeling and a practical position control problem which was substantially resolved in developing the methodologies. The application was a robotic gripper with highly preloaded rack and pinion mechanism. The authors provide both measurement and control design methodologies to help systematically circumvent the problems of nonlinear friction in precise, position controlled mechanisms. >

211 citations