This paper describes a time-efficient method for friction characterization on a Robot drive chain, namely a Ball-screw transmission. The Method promotes practical application by being independent from external sensors and giving very precise and usable output model. A complete extimation procedure is described togheter with the results obtained on the real Machine.
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Titolo: | Drive chain friction characterization of a 6DOF parallel kinematics robot |
Autori: | |
Data di pubblicazione: | 2019 |
Abstract: | This paper describes a time-efficient method for friction characterization on a Robot drive chain, namely a Ball-screw transmission. The Method promotes practical application by being independent from external sensors and giving very precise and usable output model. A complete extimation procedure is described togheter with the results obtained on the real Machine. |
Handle: | http://hdl.handle.net/11571/1346663 |
ISBN: | 978-989-758-380-3 |
Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |
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