Authors:
Hermes Giberti
1
;
Francesco La Mura
1
;
Ivan Raineri
2
and
Marco Tarabini
2
Affiliations:
1
Universita’ degli Studi di Pavia, Dipartimento di Ingegneria Industriale e dell’Informazione, Via A. Ferrata 5, 27100 Pavia and Italy
;
2
Politecnico di Milano, Department of Mechanical Engineering, Campus Bovisa Sud, via La Masa 1, 20156 Milano and Italy
Keyword(s):
Ball-screw, Friction, PKM, Robot, Stribeck, Axis, Practical Approach, Stick Slip.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mechatronics Systems
;
Modeling, Simulation and Architectures
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
System Identification
;
System Modeling
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.