Drive Chain Friction Characterization of a 6DOF Parallel Kinematics Robot

Hermes Giberti, Francesco Mura, Ivan Raineri, Marco Tarabini

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.

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