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

Masayoshi Iwatani, Ryo Kikuuwe

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

3 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
出版社Institute of Electrical and Electronics Engineers Inc.
ISBN(電子版)9781509035496
DOI
出版ステータス出版済み - 2016
イベント14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016 - Phuket, タイ
継続期間: 11月 13 201611月 15 2016

出版物シリーズ

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

その他

その他14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
国/地域タイ
CityPhuket
Period11/13/1611/15/16

!!!All Science Journal Classification (ASJC) codes

  • 人工知能
  • 制御と最適化
  • 器械工学
  • コンピュータ ビジョンおよびパターン認識

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