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Pregled bibliografske jedinice broj: 1031706

Friction modeling of robot manipulator joints


Anđelić, Nikola; Lorencin, Ivan; Mrzljak, Vedran; Car, Zlatan
Friction modeling of robot manipulator joints // Proceedings of International Conference on Innovative Technologies IN-TECH 2019 / Car, Zlatan ; Kudláček, Jan (ur.).
Rijeka: Faculty of Engineering, University of Rijeka, 2019. str. 9-12 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Friction modeling of robot manipulator joints

Autori
Anđelić, Nikola ; Lorencin, Ivan ; Mrzljak, Vedran ; Car, Zlatan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of International Conference on Innovative Technologies IN-TECH 2019 / Car, Zlatan ; Kudláček, Jan - Rijeka : Faculty of Engineering, University of Rijeka, 2019, 9-12

Skup
International Conference on Innovative Technologies IN-TECH 2019

Mjesto i datum
Beograd, Srbija, 11-13.09.2019

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

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

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo



POVEZANOST RADA


Ustanove
Tehnički fakultet, Rijeka