The Impact of Friction on the Dynamics of Parallel Robotic Manipulators

Research output: Chapter in book/report/conference proceedingContribution to book/anthologyResearchpeer review

Authors

  • H. Abdellatif
  • Bodo Heimann
  • Martin Grotjahn

Research Organisations

External Research Organisations

  • IAV GmbH
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Details

Original languageEnglish
Title of host publicationCISM International Centre for Mechanical Sciences, Courses and Lectures
PublisherSpringer International Publishing AG
Pages73-80
Number of pages8
Publication statusPublished - 2006

Publication series

NameCISM International Centre for Mechanical Sciences, Courses and Lectures
Volume487
ISSN (Print)0254-1971
ISSN (electronic)2309-3706

Abstract

In this paper an overview on joint-friction for parallel kinematic manipulators (PKM) is proposed. An efficient modeling approach is given, where dissipation in all passive and active joints are uniformly formulated and transformed in the actuation space in parameter-linear form. Furthermore, it is shown, how friction characteristics can be identified independently from any other dynamic influences. Two sections are considered to the practical issues of friction in terms of feedforward and time-optimal control.

Keywords

    Feedforward Control, Friction Characteristic, Multibody System, Parallel Robot, Passive Joint

ASJC Scopus subject areas

Cite this

The Impact of Friction on the Dynamics of Parallel Robotic Manipulators. / Abdellatif, H.; Heimann, Bodo; Grotjahn, Martin.
CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing AG, 2006. p. 73-80 (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 487).

Research output: Chapter in book/report/conference proceedingContribution to book/anthologyResearchpeer review

Abdellatif, H, Heimann, B & Grotjahn, M 2006, The Impact of Friction on the Dynamics of Parallel Robotic Manipulators. in CISM International Centre for Mechanical Sciences, Courses and Lectures. CISM International Centre for Mechanical Sciences, Courses and Lectures, vol. 487, Springer International Publishing AG, pp. 73-80. https://doi.org/10.1007/3-211-38927-X_11
Abdellatif, H., Heimann, B., & Grotjahn, M. (2006). The Impact of Friction on the Dynamics of Parallel Robotic Manipulators. In CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 73-80). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 487). Springer International Publishing AG. https://doi.org/10.1007/3-211-38927-X_11
Abdellatif H, Heimann B, Grotjahn M. The Impact of Friction on the Dynamics of Parallel Robotic Manipulators. In CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing AG. 2006. p. 73-80. (CISM International Centre for Mechanical Sciences, Courses and Lectures). doi: 10.1007/3-211-38927-X_11
Abdellatif, H. ; Heimann, Bodo ; Grotjahn, Martin. / The Impact of Friction on the Dynamics of Parallel Robotic Manipulators. CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing AG, 2006. pp. 73-80 (CISM International Centre for Mechanical Sciences, Courses and Lectures).
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