Pregled bibliografske jedinice broj: 1031706
Friction modeling of robot manipulator joints
Friction modeling of robot manipulator joints // Proceedings of International Conference on Innovative Technologies IN-TECH 2019 / Car, Zlatan ; Kudláček, Jan (ur.).
Rijeka: Tehnički fakultet Sveučilišta u Rijeci, 2019. str. 9-12 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 1031706 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
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 : Tehnički fakultet Sveučilišta u Rijeci, 2019, 9-12
Skup
International Conference on Innovative Technologies (IN-TECH 2019)
Mjesto i datum
Beograd, Srbija, 11.09.2019. - 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
Elektrotehnika, Strojarstvo
POVEZANOST RADA
Ustanove:
Tehnički fakultet, Rijeka
