Drive Chain Friction Characterization of a 6DOF Parallel Kinematics Robot

Hermes Giberti, Francesco Mura, Ivan Raineri, Marco Tarabini

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.

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Paper Citation


in Harvard Style

Giberti H., Mura F., Raineri I. and Tarabini M. (2019). Drive Chain Friction Characterization of a 6DOF Parallel Kinematics Robot.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-380-3, pages 633-640. DOI: 10.5220/0007837806330640


in Bibtex Style

@conference{icinco19,
author={Hermes Giberti and Francesco Mura and Ivan Raineri and Marco Tarabini},
title={Drive Chain Friction Characterization of a 6DOF Parallel Kinematics Robot},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2019},
pages={633-640},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007837806330640},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Drive Chain Friction Characterization of a 6DOF Parallel Kinematics Robot
SN - 978-989-758-380-3
AU - Giberti H.
AU - Mura F.
AU - Raineri I.
AU - Tarabini M.
PY - 2019
SP - 633
EP - 640
DO - 10.5220/0007837806330640