engleski

Friction modeling of robot manipulator joints

In this paper the idea is to investigate friction in robot manipulator joints. First, the differential equations that describes DC Servo motor in each robot manipulator joints must be obtained. Second, the kinematic and dynamics equations must be obtained for two joints robot manipulator. The obtained equation are used for developing controller system considering dynamic type of friction (LuGre friction model) in robot manipulator joints. The results showed that dynamic friction drastically changes the trajectory of robot manipulator.

DC Motor ; Direct and Inverse Kinematics ; Dynamics of Robot Manipulator ; LuGre Friction Model

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