论文信息 - Dynamic analysis of manipulators with consideration of dry friction

Dynamic analysis of manipulators with consideration of dry friction

The paper presents an application of an algorithm for the solution of the inverse dynamic problem of manipulators in order to calculate the dry friction forces in dynamic analysis of open kinematic chains. The analysis considers the two alternate phases of kinetic friction and stiction. An application of the algorithm is exemplified by the dynamic analysis of a drilling vehicle.

Stanisław Wojciech

[1] Richard P. Paul,et al. Robot manipulators : mathematics, programming, and control : the computer control of robot manipulators , 1981 .

[2] Carlos Canudas de Wit,et al. Adaptive Control of a Flexible ARM with Explicit Estimation of the Payload Mass and Friction , 1986 .

[3] Edward L. Wilson,et al. Numerical methods in finite element analysis , 1976 .

[4] Heikki N. Koivo,et al. A model for constrained motion of a serial link manipulator , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[5] Phillip J. McKerrow,et al. Introduction to robotics , 1991 .

[6] E. Haug,et al. Dynamics of mechanical systems with Coulomb friction, stiction, impact and constraint addition-deletion—I theory , 1986 .

[7] J. T. Oden,et al. Models and computational methods for dynamic friction phenomena , 1984 .

[8] Peter C. Müller,et al. Dynamical Behaviour of Nonlinear Multibody Systems Due to Coulomb Friction and Backlash , 1986 .