Abstract
The experiments reported here have been carried out with a PUMA 560 arm controlled with the NYMPH computer [Chen et. al. 86]. Two procedures for measuring friction have been used:
-
1
Measuring acceleration and subtracting computed inertial torques from known motor torques;
-
2
Measuring the minimum torque necessary to initiate motion.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Author information
Authors and Affiliations
Rights and permissions
Copyright information
© 1991 Springer Science+Business Media New York
About this chapter
Cite this chapter
Armstrong-Hélouvry, B. (1991). Experiment Design. In: Control of Machines with Friction. The Springer International Series in Engineering and Computer Science, vol 128. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-3972-8_3
Download citation
DOI: https://doi.org/10.1007/978-1-4615-3972-8_3
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4613-6774-1
Online ISBN: 978-1-4615-3972-8
eBook Packages: Springer Book Archive