Skip to main content
Springer Nature Link
Log in

Friction Model Validation in Sliding and Presliding Regimes with High Resolution Encoders

  • Conference paper
  • First Online:
Experimental Robotics VIII

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 5))

Abstract

The initial results of a research aimed at investigating to what extent high resolution encoders, which are getting available for common industrial motion control and robotics applications, can be exploited to compensate for non linear friction terms are presented in this paper. The 22 bits resolution sensor used allowed a neat analysis of the dynamic behavior of friction forces in the presliding regime, and especially of hysteresis loops. A recently proposed friction model has been validated. However, the influence of the cogging torque on the motor has been found to play a key role.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 219.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Similar content being viewed by others

References

  1. Dahl, P. R. (1968) A solid friction model. Tech. Rep. TOR-158(3107-18), The Aerospace Corporation, El Segundo, CA

    Google Scholar 

  2. Canudas de Wit, C., Olsson, H., Åström, K. J., Lischinsky, P.(1995) A new model for control of systems with friction. IEEE Trans. Automat. Contr. 40,3, 419–425

    Article  MATH  Google Scholar 

  3. Swevers, J., Al-Bender, F., Ganseman, C. G., Prajogo, T. (2000) An integrated friction model structure with improved presliding behavior for accurate friction compensation. IEEE Trans. Automat. Contr. 45,4, 675–686

    Article  MATH  MathSciNet  Google Scholar 

  4. Armstrong-Helouvry, B. (1991) Control of Machines with Friction. Kluwer Academic Publishers, Norwell, MA

    MATH  Google Scholar 

  5. Bonsignore, A., Ferretti, G., Magnani, G. (1999) Analytical formulation of the classical friction model for motion analysis and simulation. Math. and Comp. Mod. of Dyn. Sys. 5,1, 43–54

    MATH  MathSciNet  Google Scholar 

  6. Armstrong-Helouvry, B., Dupont, P., Canudas de Wit, C. (1994) A survey of models, analysis tools and compensation methods for the control of machines with friction. Automatica. 30,7, 1083–1138

    Article  MATH  Google Scholar 

  7. Ferretti, G., Magnani, G., Rocco, P. (1998) Modelling, identification and compensation of pulsating torque in permanent magnet AC motors. IEEE Trans. Ind. El. 45,6, 912–920

    Article  Google Scholar 

  8. Ferretti, G., Magnani, G., Rocco, P. (2001) Alternatives in precise load motion control of two-mass servomechanisms. 2001 IEEE/ASME Int. Conf. on Adv. Intell. Mech., Como, July 8–11, 1130–1135

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza L. da Vinci 32, 20133, Milano, Italy

    Gianni Ferretti, Gianantonio Magnani, Gianpaolo Martucci & Paolo Rocco

  2. Control Techniques S.p.A., Via Brodolini 7, 20089, Rozzano, Italy

    Vincenzo Stampacchia

Authors
  1. Gianni Ferretti
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Gianantonio Magnani
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Gianpaolo Martucci
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Paolo Rocco
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Vincenzo Stampacchia
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Dipartimento di Ingegneria dell’Informazione e Ingegneria Elettrica, Università degli Studi di Salerno, Via Ponte Don Melillo, 84084, Fisciano (SA), Italy

    Bruno Siciliano

  2. Scuola Superiore di Studi Universitari e di Perfezionamento Sant’Anna, Piazza Martiri della Libertà 33, 56127, Pisa, Italy

    Paolo Dario

Rights and permissions

Reprints and permissions

Copyright information

© 2003 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Ferretti, G., Magnani, G., Martucci, G., Rocco, P., Stampacchia, V. (2003). Friction Model Validation in Sliding and Presliding Regimes with High Resolution Encoders. In: Siciliano, B., Dario, P. (eds) Experimental Robotics VIII. Springer Tracts in Advanced Robotics, vol 5. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36268-1_29

Download citation

  • DOI: https://doi.org/10.1007/3-540-36268-1_29

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-00305-2

  • Online ISBN: 978-3-540-36268-5

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics