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.

Drive chain friction characterization of a 6DOF parallel kinematics robot

Giberti H.
;
La Mura F.
;
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.
978-989-758-380-3
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11571/1346663
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