IRREVERSIBILITY MODELING APPLIED TO THE CONTROL OF COMPLEX ROBOTIC DRIVE CHAINS

Omar Al Assad, Emmanuel Godoy, Vincent Croulard

Abstract

The phenomena of static and dry friction may lead to difficult problems during low speed motion (e.g. stick slip phenomenon). However, they can be used to obtain irreversible mechanical transmissions. The latter tend to be very hard to model theoretically. In this paper, we propose a pragmatic approach to model irreversibility in robotic drive chains. The proposed methodology consists of using a state machine to describe the functional state of the transmission. After that, for each state we define the efficiency coefficient of the drive chain. This technique gives conclusive results during experimental validation and allows reproducing a reliable robot simulator. This simulator is set up for the purpose of position control of a medical positioning robot.

References

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Paper Citation


in Harvard Style

Al Assad O., Godoy E. and Croulard V. (2007). IRREVERSIBILITY MODELING APPLIED TO THE CONTROL OF COMPLEX ROBOTIC DRIVE CHAINS . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 217-222. DOI: 10.5220/0001629802170222


in Bibtex Style

@conference{icinco07,
author={Omar Al Assad and Emmanuel Godoy and Vincent Croulard},
title={IRREVERSIBILITY MODELING APPLIED TO THE CONTROL OF COMPLEX ROBOTIC DRIVE CHAINS},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={217-222},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001629802170222},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - IRREVERSIBILITY MODELING APPLIED TO THE CONTROL OF COMPLEX ROBOTIC DRIVE CHAINS
SN - 978-972-8865-83-2
AU - Al Assad O.
AU - Godoy E.
AU - Croulard V.
PY - 2007
SP - 217
EP - 222
DO - 10.5220/0001629802170222