Romansy 16 pp 73-80 | Cite as

The Impact of Friction on the Dynamics of Parallel Robotic Manipulators

  • Houssem Abdellatif
  • Bodo Heimann
  • Martin Grotjahn
Part of the CISM Courses and Lectures book series (CISM, volume 487)


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.


Multibody System Feedforward Control Parallel Robot Friction Characteristic Passive Joint 
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Copyright information

© CISM, Udine 2006

Authors and Affiliations

  • Houssem Abdellatif
    • 1
  • Bodo Heimann
    • 1
  • Martin Grotjahn
    • 2
  1. 1.Institute of RoboticsUniversity of HannoverGermany
  2. 2.IAV-GmbHGifhornGermany

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