MachinesThis paper presents a fault-tolerant control (FTC) strategy for a six-degree-of-freedom (DoF) anthropomorphic manipulator operating under actuator faults and complex friction dynamics.
Khurram Ali +4 more
doaj +1 more source
Second-order LuGre friction model
A second-order LuGre friction model is presented which can be viewed as an extension of the well known LuGre friction model. This model is based on a dynamic extension, which can be seen as an extra dynamic to capture some kind of periodic motion ...
Acho Zuppa, Leonardo +2 more
core
Efficient simulation of a dynamic system with LuGre friction
, 2005 Friction is a difficult phenomenon to model and simulate. One promising friction model is the LuGre model, which captures key frictional behavior from experiments and from other friction laws. While displaying many modeling advantages, the LuGre model of
Bauchau, Olivier +2 more
core
Integrated Controller Design and Application for CNC Machine Tool Servo Systems Based on Model Reference Adaptive Control and Adaptive Sliding Mode Control. [PDF]
Sensors (Basel), 2023 Zhang T, Li X, Gai H, Zhu Y, Cheng X.
europepmc +1 more source
Modelagem e compensação de atrito em robôs manipuladores com flexibilidades nas juntas: identificação, análise e resultados experimentais [PDF]
, 2007 Dissertação (mestrado) - Universidade Federal de Santa Catarina, Centro Tecnológico. Programa de Pós-graduação em Engenharia ElétricaNeste trabalho é estudado o problema de controle de posição em robôs manipuladores considerando flexibilidade nas juntas ...
Casanova, Christiano Corrêa
core
Influence of two kinds of clearance joints on the dynamics of planar mechanical system based on a modified contact force model. [PDF]
Sci Rep, 2023 Tan H +6 more
europepmc +1 more source
Nonlinear Parameter Identification of the Franka Emika PANDA Robot
Andalas Journal of Electrical and Electronic Engineering TechnologyThis research addresses the problem of dynamic parameter identification for robot manipulators. As the complex manipulation of tasks increases, traditional control methods become insufficient, necessitating accurate model-based control. Previous studies
Gilbert Soto +2 more
doaj +1 more source
An Improved Parameter Identification Algorithm for the Friction Model of Electro-Hydraulic Servo Systems. [PDF]
Sensors (Basel), 2023 Liao J, Zhou F, Zheng J.
europepmc +1 more source
A Precise Modeling Method for PMSM Servo System of Spacecraft
Applied SciencesPermanent magnet synchronous motor (PMSM) servo system is the control and execution mechanism of spacecraft, and its precise modeling is of great practical significance for improving the performance of the spacecraft.
Hang Xu +5 more
doaj +1 more source
A LuGre Tire Friction Model with Exact Aggregate Dynamics
, 2004 The LuGre dynamic point contact friction model for the two-dimensional translation of a body on a surface has been used to derive a model for the friction forces and moments at the contact patch of a tire. The resulting tire friction model is distributed,
P. Tsiotras +5 more
core +1 more source