Parameter Identification of LuGre Friction Model for Robot Joints

被引：3
|
作者：
Zheng, Yaqing [1 ]
机构：
[1] Huaqiao Univ, Coll Mech Engn & Automat, Xiamen 361021, Fujian, Peoples R China
来源：
ADVANCED MECHANICAL DESIGN, PTS 1-3 | 2012年 / 479-481卷
关键词：
Robot joints; LuGre friction model; Parameter identification; Particle swarm optimization; Programming;
D O I：
10.4028/www.scientific.net/AMR.479-481.1084
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
The LuGre friction model well captures most of the friction behavior, but it was very difficult to identify the parameters of the LuGre model. The LuGre friction model, theory of static and dynamic parameters identification of the LuGre model as well as the algorithm based on particle swarm optimization are summarized according to the previous work. Then the programs for the static and dynamic parameters identification are made and analyzed in the environment of Matlab software in detail, and the identification results are given. The work mentioned above will lay the theoretical foundation for the future experimental validations and provide the detailed models, algorithms and programs for the corresponding research issues.
引用
收藏
页码：1084 / 1090
页数：7
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