THE EFFECT OF FRICTION ON THE FORWARD DYNAMICS PROBLEM

被引：30

作者：

DUPONT, PE

机构：

[1] Aerospace and Mechanical Engineering, Boston University, Boston

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 1993年 / 12卷 / 02期

关键词：

D O I：

10.1177/027836499301200205

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This article discusses the numerical solution of the forward dynamic equations of an n-degree-of-freedom manipulator with friction. Also discussed are the modeling and experimental identification of friction. It is shown that the inclusion of Coulomb-type friction in the dynamic equations introduces two difficulties in the forward dynamic solution. The differential equations are shown to be discontinuous in the highest-order derivative terms. In addition, the load dependency of this type of friction typically causes the equations to be implicit in the joint accelerations. For the important case of load-dependent transmission friction, the equations can be explicit. Techniques for the forward solution are described through the example of a roller screw transmission. Experimental and simulation results are used to show the importance of load-dependent friction in a particular robot.

引用

页码：164 / 179

页数：16

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