- Title
- Friction hysteresis modeling and force control in a constrained single-link arm
- Creator
- Bazaei, A.; Moallem, M.
- Relation
- Journal of Dynamic Systems, Measurement and Control Vol. 133, Issue 6
- Publisher Link
- http://dx.doi.org/10.1115/1.4004580
- Publisher
- A S M E International
- Resource Type
- journal article
- Date
- 2011
- Description
- In this paper, we study friction characteristics of a constrained planar single-link arm in applications, where control of the end-point interaction force is required. The objective is to improve performance of a force control system by developing an adequate friction model. It is shown that hub friction increases with the applied force with the end-point force exhibiting significant hysteresis behavior. A friction model is presented for capturing these phenomena and compared with the widely used LuGre friction model. Effectiveness of the proposed model for friction compensation is further examined on an experimental force control system testbed.
- Subject
- friction model; hysteresis behavior; force control; friction compensation
- Identifier
- http://hdl.handle.net/1959.13/1064310
- Identifier
- uon:17513
- Identifier
- ISSN:0022-0434
- Language
- eng
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