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

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Experimental Robotics VIII

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

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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.

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References

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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
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  2. Gianantonio Magnani
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  3. Gianpaolo Martucci
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  4. Paolo Rocco
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  5. Vincenzo Stampacchia
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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

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© 2003 Springer-Verlag Berlin Heidelberg

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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

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

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-00305-2

  • Online ISBN: 978-3-540-36268-5

  • eBook Packages: Springer Book Archive

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