The Impact of Friction on the Dynamics of Parallel Robotic Manipulators
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.
KeywordsMultibody System Feedforward Control Parallel Robot Friction Characteristic Passive Joint
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